npm - @itwin/core-geometry - Versions diffs - 4.0.0-dev.93 → 4.0.0-dev.95 - Mend

@itwin/core-geometry 4.0.0-dev.93 → 4.0.0-dev.95

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (17) hide show

package/lib/cjs/geometry3d/BarycentricTriangle.d.ts +2 -0
package/lib/cjs/geometry3d/BarycentricTriangle.d.ts.map +1 -1
package/lib/cjs/geometry3d/BarycentricTriangle.js +2 -0
package/lib/cjs/geometry3d/BarycentricTriangle.js.map +1 -1
package/lib/cjs/geometry3d/Ray3d.d.ts +7 -1
package/lib/cjs/geometry3d/Ray3d.d.ts.map +1 -1
package/lib/cjs/geometry3d/Ray3d.js +7 -1
package/lib/cjs/geometry3d/Ray3d.js.map +1 -1
package/lib/esm/geometry3d/BarycentricTriangle.d.ts +2 -0
package/lib/esm/geometry3d/BarycentricTriangle.d.ts.map +1 -1
package/lib/esm/geometry3d/BarycentricTriangle.js +2 -0
package/lib/esm/geometry3d/BarycentricTriangle.js.map +1 -1
package/lib/esm/geometry3d/Ray3d.d.ts +7 -1
package/lib/esm/geometry3d/Ray3d.d.ts.map +1 -1
package/lib/esm/geometry3d/Ray3d.js +7 -1
package/lib/esm/geometry3d/Ray3d.js.map +1 -1
package/package.json +3 -3

package/lib/cjs/geometry3d/BarycentricTriangle.d.ts CHANGED Viewed

@@ -150,6 +150,7 @@ export declare class BarycentricTriangle {
      * * `d.isValid` returns true if and only if `this.normal()` is defined.
      * * `d.classify` can be used to determine where P lies with respect to the triangle.
      * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle
      * @see [[fractionToPoint]]
      */
     pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail;
@@ -242,6 +243,7 @@ export declare class BarycentricTriangle {
      * * The ray intersects the triangle if and only if `d.isValid` returns true, `d.a` >= 0, and `d.isInsideOrOn`
      * returns true.
      * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection
      * @see [[pointToFraction]]
     */
     intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail;

package/lib/cjs/geometry3d/BarycentricTriangle.d.ts.map CHANGED Viewed

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package/lib/cjs/geometry3d/BarycentricTriangle.js CHANGED Viewed

@@ -239,6 +239,7 @@ class BarycentricTriangle {
      * * `d.isValid` returns true if and only if `this.normal()` is defined.
      * * `d.classify` can be used to determine where P lies with respect to the triangle.
      * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle
      * @see [[fractionToPoint]]
      */
     pointToFraction(point, result) {
@@ -475,6 +476,7 @@ class BarycentricTriangle {
      * * The ray intersects the triangle if and only if `d.isValid` returns true, `d.a` >= 0, and `d.isInsideOrOn`
      * returns true.
      * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection
      * @see [[pointToFraction]]
     */
     intersectRay3d(ray, result) {

package/lib/cjs/geometry3d/BarycentricTriangle.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\n\r\nimport { assert } from \"@itwin/core-bentley\";\r\n\r\nimport { Geometry, PolygonLocation } from \"../Geometry\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n/\r\n Carries data about a location in the plane of a triangle.\r\n * * Each instance carries both world and barycentric coordinates for the point, and provides query\r\n * services on the latter.\r\n * * No tolerance is used when querying barycentric coordinates (e.g., `isInsideOrOn`, `classify`). Use\r\n * [[BarycentricTriangle.snapLocationToEdge]] to adjust the barycentric coordinates to a triangle edge\r\n * if they lie within a distance or parametric tolerance.\r\n \r\n Properties of the barycentric coordinates `(b0, b1, b2)` of a point `p` in the plane of a triangle\r\n * `T` with vertices `v0, v1, v2`:\r\n * * `1 = b0 + b1 + b2`\r\n * * `p = b0 * v0 + b1 * v1 + b2 * v2`\r\n * * If T is spanned by the vectors `U = v1 - v0` and `V = v2 - v0`, then the vector `P = p - v0` can\r\n * be written `P = b1 * U + b2 * V`.\r\n * * The coordinates are all nonnegative if and only if `p` is inside or on `T`.\r\n * * Exactly one coordinate is zero if and only if `p` lies on an (infinitely extended) edge of `T`.\r\n * * Exactly two coordinates are zero if and only if `p` coincides with a vertex of `T`.\r\n * * Note that if `p` can be written as a linear combination of the vertices of `T` using scales that do\r\n * NOT sum to 1, then `p` is not coplanar with `T`\r\n * @public\r\n /\r\nexport class TriangleLocationDetail {\r\n /* The Cartesian coordinates of the point p. /\r\n public world: Point3d;\r\n /* The barycentric coordinates of p with respect to the triangle. Assumed to sum to one. /\r\n public local: Point3d;\r\n /* Application-specific number /\r\n public a: number;\r\n /* Index of the triangle vertex at the start of the closest edge to p. /\r\n public closestEdgeIndex: number;\r\n /\r\n The parameter f along the closest edge to p of its projection q.\r\n * * We have q = v_i + f * (v_j - v_i) where i = closestEdgeIndex and j = (i + 1) % 3 are the indices\r\n * of the start vertex v_i and end vertex v_j of the closest edge to p.\r\n * * Note that 0 <= f <= 1.\r\n /\r\n public closestEdgeParam: number;\r\n\r\n private constructor() {\r\n this.world = new Point3d();\r\n this.local = new Point3d();\r\n this.a = 0.0;\r\n this.closestEdgeIndex = 0;\r\n this.closestEdgeParam = 0.0;\r\n }\r\n /* Invalidate this detail (set all attributes to zero) . /\r\n public invalidate() {\r\n this.world.setZero();\r\n this.local.setZero();\r\n this.a = 0.0;\r\n this.closestEdgeIndex = 0;\r\n this.closestEdgeParam = 0.0;\r\n }\r\n /\r\n Create an invalid detail.\r\n * @param result optional pre-allocated object to fill and return\r\n /\r\n public static create(result?: TriangleLocationDetail): TriangleLocationDetail {\r\n if (undefined === result)\r\n result = new TriangleLocationDetail();\r\n else\r\n result.invalidate();\r\n return result;\r\n }\r\n /\r\n Set the instance contents from the `other` detail.\r\n * @param other detail to clone\r\n /\r\n public copyContentsFrom(other: TriangleLocationDetail) {\r\n this.world.setFrom(other.world);\r\n this.local.setFrom(other.local);\r\n this.a = other.a;\r\n this.closestEdgeIndex = other.closestEdgeIndex;\r\n this.closestEdgeParam = other.closestEdgeParam;\r\n }\r\n /* Whether this detail is invalid. /\r\n public get isValid(): boolean {\r\n return !this.local.isZero;\r\n }\r\n /\r\n Queries the barycentric coordinates to determine whether this instance specifies a location inside or\r\n * on the triangle.\r\n * @see classify\r\n /\r\n public get isInsideOrOn(): boolean {\r\n return this.isValid && this.local.x >= 0.0 && this.local.y >= 0.0 && this.local.z >= 0.0;\r\n }\r\n /\r\n Queries this detail to classify the location of this instance with respect to the triangle.\r\n * @returns location code\r\n * @see isInsideOrOn\r\n /\r\n public get classify(): PolygonLocation {\r\n if (!this.isValid)\r\n return PolygonLocation.Unknown;\r\n if (this.isInsideOrOn) {\r\n let numZero = 0;\r\n if (Math.abs(this.local.x) === 0.0)\r\n ++numZero;\r\n if (Math.abs(this.local.y) === 0.0)\r\n ++numZero;\r\n if (Math.abs(this.local.z) === 0.0)\r\n ++numZero;\r\n if (2 === numZero)\r\n return PolygonLocation.OnPolygonVertex;\r\n if (1 === numZero)\r\n return PolygonLocation.OnPolygonEdgeInterior;\r\n return PolygonLocation.InsidePolygonProjectsToEdgeInterior;\r\n }\r\n return (this.closestEdgeParam === 0.0) ?\r\n PolygonLocation.OutsidePolygonProjectsToVertex :\r\n PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\r\n }\r\n}\r\n\r\n/\r\n 3 points defining a triangle to be evaluated with barycentric coordinates.\r\n * @public\r\n /\r\nexport class BarycentricTriangle {\r\n /* Array of 3 point coordinates for the triangle. /\r\n public points: Point3d[];\r\n /* Edge length squared cache, indexed by opposite vertex index /\r\n protected edgeLength2: number[];\r\n // private attributes\r\n private static _workPoint?: Point3d;\r\n private static _workVector0?: Vector3d;\r\n private static _workVector1?: Vector3d;\r\n private static _workRay?: Ray3d;\r\n private static _workMatrix?: Matrix3d;\r\n /\r\n Constructor.\r\n * * Point references are CAPTURED\r\n /\r\n protected constructor(point0: Point3d, point1: Point3d, point2: Point3d) {\r\n this.points = [];\r\n this.points.push(point0);\r\n this.points.push(point1);\r\n this.points.push(point2);\r\n this.edgeLength2 = [];\r\n this.edgeLength2.push(point1.distanceSquared(point2));\r\n this.edgeLength2.push(point0.distanceSquared(point2));\r\n this.edgeLength2.push(point0.distanceSquared(point1));\r\n }\r\n /\r\n Copy contents of (not pointers to) the given points. A vertex is zeroed if its corresponding input point\r\n * is undefined.\r\n /\r\n public set(point0: Point3d \| undefined, point1: Point3d \| undefined, point2: Point3d \| undefined) {\r\n this.points[0].setFromPoint3d(point0);\r\n this.points[1].setFromPoint3d(point1);\r\n this.points[2].setFromPoint3d(point2);\r\n this.edgeLength2[0] = this.points[1].distanceSquared(this.points[2]);\r\n this.edgeLength2[1] = this.points[0].distanceSquared(this.points[2]);\r\n this.edgeLength2[2] = this.points[0].distanceSquared(this.points[1]);\r\n }\r\n /* Copy all values from `other` /\r\n public setFrom(other: BarycentricTriangle) {\r\n for (let i = 0; i < 3; ++i) {\r\n this.points[i].setFromPoint3d(other.points[i]);\r\n this.edgeLength2[i] = other.edgeLength2[i];\r\n }\r\n }\r\n /\r\n Create a `BarycentricTriangle` with coordinates given by enumerated x,y,z of the 3 points.\r\n * @param result optional pre-allocated triangle.\r\n /\r\n public static createXYZXYZXYZ(\r\n x0: number, y0: number, z0: number,\r\n x1: number, y1: number, z1: number,\r\n x2: number, y2: number, z2: number,\r\n result?: BarycentricTriangle\r\n ): BarycentricTriangle {\r\n if (!result)\r\n return new this(Point3d.create(x0, y0, z0), Point3d.create(x1, y1, z1), Point3d.create(x2, y2, z2));\r\n result.points[0].set(x0, y0, z0);\r\n result.points[1].set(x1, y1, z1);\r\n result.points[2].set(x2, y2, z2);\r\n return result;\r\n }\r\n /* Create a triangle with coordinates cloned from given points. /\r\n public static create(\r\n point0: Point3d, point1: Point3d, point2: Point3d, result?: BarycentricTriangle\r\n ): BarycentricTriangle {\r\n if (!result)\r\n return new this(point0.clone(), point1.clone(), point2.clone());\r\n result.set(point0, point1, point2);\r\n return result;\r\n }\r\n /* Return a new `BarycentricTriangle` with the same coordinates. /\r\n public clone(result?: BarycentricTriangle): BarycentricTriangle {\r\n return BarycentricTriangle.create(this.points[0], this.points[1], this.points[2], result);\r\n }\r\n /* Return a clone of the transformed instance /\r\n public cloneTransformed(transform: Transform, result?: BarycentricTriangle): BarycentricTriangle {\r\n return BarycentricTriangle.create(\r\n transform.multiplyPoint3d(this.points[0], result?.points[0]),\r\n transform.multiplyPoint3d(this.points[1], result?.points[1]),\r\n transform.multiplyPoint3d(this.points[2], result?.points[2]),\r\n result\r\n );\r\n }\r\n /* Return the area of the triangle. /\r\n public get area(): number {\r\n // The magnitude of the cross product A × B is the area of the parallelogram spanned by A and B.\r\n return 0.5 this.points[0].crossProductToPointsMagnitude(this.points[1], this.points[2]);\r\n }\r\n /*\r\n Compute squared length of the triangle edge opposite the vertex with the given index.\r\n * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n /\r\n public edgeLengthSquared(oppositeVertexIndex: number): number {\r\n return this.edgeLength2[Geometry.cyclic3dAxis(oppositeVertexIndex)];\r\n }\r\n /\r\n Compute length of the triangle edge opposite the vertex with the given index.\r\n * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n /\r\n public edgeLength(oppositeVertexIndex: number): number {\r\n return Math.sqrt(this.edgeLengthSquared(oppositeVertexIndex));\r\n }\r\n /* Return area divided by sum of squared lengths. /\r\n public get aspectRatio(): number {\r\n return Geometry.safeDivideFraction(\r\n this.area, this.edgeLengthSquared(0) + this.edgeLengthSquared(1) + this.edgeLengthSquared(2), 0\r\n );\r\n }\r\n /* Return the perimeter of the triangle. /\r\n public get perimeter(): number {\r\n return this.edgeLength(0) + this.edgeLength(1) + this.edgeLength(2);\r\n }\r\n /\r\n Return the unit normal of the triangle.\r\n * @param result optional pre-allocated vector to fill and return.\r\n * @returns unit normal, or undefined if cross product length is too small.\r\n /\r\n public normal(result?: Vector3d): Vector3d \| undefined {\r\n const cross = this.points[0].crossProductToPoints(this.points[1], this.points[2], result);\r\n if (cross.tryNormalizeInPlace())\r\n return cross;\r\n return undefined;\r\n }\r\n /\r\n Sum the triangle points with given scales.\r\n * * If the scales sum to 1, they are barycentric coordinates, and hence the result point is in the plane of\r\n * the triangle. If all coordinates are non-negative then the result point is inside the triangle.\r\n * * If the scales do not sum to 1, the point is inside the triangle scaled (by the scale sum) from the origin.\r\n * @param b0 scale to apply to vertex 0\r\n * @param b1 scale to apply to vertex 1\r\n * @param b2 scale to apply to vertex 2\r\n * @param result optional pre-allocated point to fill and return\r\n * @return linear combination of the vertices of this triangle\r\n * @see [[pointToFraction]]\r\n /\r\n public fractionToPoint(b0: number, b1: number, b2: number, result?: Point3d): Point3d {\r\n // p = b0 v0 + b1 * v1 + b2 * v2\r\n return Point3d.createAdd3Scaled(this.points[0], b0, this.points[1], b1, this.points[2], b2, result);\r\n }\r\n /*\r\n Compute the projection of the given `point` onto the plane of this triangle.\r\n * @param point point p to project\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the projection point `P = d.world`:\r\n * * `d.isValid` returns true if and only if `this.normal()` is defined.\r\n * * `d.classify` can be used to determine where P lies with respect to the triangle.\r\n * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.\r\n * @see [[fractionToPoint]]\r\n /\r\n public pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n const normal = BarycentricTriangle._workVector0 = this.normal(BarycentricTriangle._workVector0);\r\n if (undefined === normal)\r\n return TriangleLocationDetail.create(result);\r\n const ray = BarycentricTriangle._workRay = Ray3d.create(point, normal, BarycentricTriangle._workRay);\r\n return this.intersectRay3d(ray, result); // intersectRay3d is free to use workVector0\r\n }\r\n /* Convert from opposite-vertex to start-vertex edge indexing. /\r\n public static edgeOppositeVertexIndexToStartVertexIndex(edgeIndex: number): number {\r\n return Geometry.cyclic3dAxis(edgeIndex + 1);\r\n }\r\n /* Convert from start-vertex to opposite-vertex edge indexing. /\r\n public static edgeStartVertexIndexToOppositeVertexIndex(startVertexIndex: number): number {\r\n return Geometry.cyclic3dAxis(startVertexIndex - 1);\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies inside the triangle but not on an edge/vertex.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns whether the point with barycentric coordinates is strictly inside the triangle.\r\n /\r\n public static isInsideTriangle(b0: number, b1: number, b2: number): boolean {\r\n return b0 > 0 && b1 > 0 && b2 > 0;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies inside the triangle or on an edge/vertex.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns whether the point with barycentric coordinates is inside or on the triangle.\r\n /\r\n public static isInsideOrOnTriangle(b0: number, b1: number, b2: number): boolean {\r\n return b0 >= 0 && b1 >= 0 && b2 >= 0;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies outside an edge of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns edge index i (opposite vertex i) for which b_i < 0 and b_j >= 0, and b_k >= 0. Otherwise, returns -1.\r\n /\r\n private static isInRegionBeyondEdge(b0: number, b1: number, b2: number): number {\r\n // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n // edges to infinity and not by perpendicular lines to the edges (which gives smaller regions)\r\n if (b0 < 0 && b1 >= 0 && b2 >= 0)\r\n return 0;\r\n if (b0 >= 0 && b1 < 0 && b2 >= 0)\r\n return 1;\r\n if (b0 >= 0 && b1 >= 0 && b2 < 0)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies outside a vertex of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex i for which b_j < 0 and b_k < 0. Otherwise, returns -1.\r\n /\r\n private static isInRegionBeyondVertex(b0: number, b1: number, b2: number): number {\r\n // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n // edges to infinity and not by perpendicular lines to the edges (which gives larger regions)\r\n if (b1 < 0 && b2 < 0)\r\n return 0;\r\n if (b0 < 0 && b2 < 0)\r\n return 1;\r\n if (b0 < 0 && b1 < 0)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies on a vertex of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex i for which b_i = 1 and b_j = b_k = 0. Otherwise, returns -1.\r\n /\r\n private static isOnVertex(b0: number, b1: number, b2: number): number {\r\n if (b0 === 1 && b1 === 0 && b2 === 0)\r\n return 0;\r\n if (b0 === 0 && b1 === 1 && b2 === 0)\r\n return 1;\r\n if (b0 === 0 && b1 === 0 && b2 === 1)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies on a bounded edge of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns edge index i (opposite vertex i) for which b_i = 0, b_j > 0, and b_k > 0. Otherwise, returns -1.\r\n /\r\n private static isOnBoundedEdge(b0: number, b1: number, b2: number): number {\r\n if (b0 === 0 && b1 > 0 && b2 > 0)\r\n return 0;\r\n if (b0 > 0 && b1 === 0 && b2 > 0)\r\n return 1;\r\n if (b0 > 0 && b1 > 0 && b2 === 0)\r\n return 2;\r\n return -1;\r\n }\r\n /* @returns edge/vertex index (0,1,2) for which the function has a minimum value /\r\n private static indexOfMinimum(fn: (index: number) => number): number {\r\n let i = 0;\r\n let min = fn(0);\r\n const val = fn(1);\r\n if (min > val) {\r\n i = 1;\r\n min = val;\r\n }\r\n if (min > fn(2))\r\n i = 2;\r\n return i;\r\n }\r\n /\r\n Compute the squared distance between two points given by their barycentric coordinates.\r\n * * It is assumed that a0 + a1 + a2 = b0 + b1 + b2 = 1.\r\n /\r\n public distanceSquared(a0: number, a1: number, a2: number, b0: number, b1: number, b2: number): number {\r\n // The barycentric displacement vector distance formula\r\n // More details can be found at https://web.evanchen.cc/handouts/bary/bary-full.pdf\r\n return -this.edgeLengthSquared(0) (b1 - a1) * (b2 - a2)\r\n - this.edgeLengthSquared(1) * (b2 - a2) * (b0 - a0)\r\n - this.edgeLengthSquared(2) * (b0 - a0) * (b1 - a1);\r\n }\r\n /** Return the index of the closest triangle vertex to the point given by its barycentric coordinates. /\r\n public closestVertexIndex(b0: number, b1: number, b2: number): number {\r\n return BarycentricTriangle.indexOfMinimum((i: number) => {\r\n const a = BarycentricTriangle._workPoint = Point3d.createZero(BarycentricTriangle._workPoint);\r\n a.setAt(i, 1.0); // \"a\" is (1,0,0) or (0,1,0) or (0,0,1) so \"a\" represents vertex i\r\n return this.distanceSquared(a.x, a.y, a.z, b0, b1, b2); // distance between the point and vertex i\r\n });\r\n }\r\n /* Compute dot product of the edge vectors based at the vertex with the given index. /\r\n public dotProductOfEdgeVectorsAtVertex(baseVertexIndex: number): number {\r\n const i = Geometry.cyclic3dAxis(baseVertexIndex);\r\n const j = Geometry.cyclic3dAxis(i + 1);\r\n const k = Geometry.cyclic3dAxis(j + 1);\r\n return Geometry.dotProductXYZXYZ(\r\n this.points[j].x - this.points[i].x, this.points[j].y - this.points[i].y, this.points[j].z - this.points[i].z,\r\n this.points[k].x - this.points[i].x, this.points[k].y - this.points[i].y, this.points[k].z - this.points[i].z\r\n );\r\n }\r\n /\r\n Compute the projection of barycentric point p onto the (unbounded) edge e_k(v_i,v_j) of the triangle T(v_i,v_j,v_k).\r\n * @param k vertex v_k is opposite the edge e_k\r\n * @param b barycentric coordinates of point to project\r\n * @returns parameter f along e_k, such that:\r\n * * the projection point is q = v_i + f * (v_j - v_i)\r\n * * the barycentric coords of the projection are q_ijk = (1 - f, f, 0)\r\n /\r\n private computeProjectionToEdge(k: number, b: number[]): number {\r\n /\r\n We know p = (b_iv_i) + (b_jv_j) + (b_kv_k) and 1 = b_i + b_j + b_k.\r\n Let U = v_j - v_i and V = v_k - v_i and P = p - v_i.\r\n * First we prove P = b_jU + b_kV.\r\n * P = (b_i * v_i) + (b_j * v_j) + (b_k * v_k) - v_i\r\n * = (b_i * v_i) + (b_j * (v_j-v_i)) + (b_j * v_i) + (b_k * (v_k-v_i)) + (b_k * v_i) - v_i\r\n * = (b_i * v_i) + (b_j * U) + (b_j * v_i) + (b_k * V) + (b_k * v_i) - v_i\r\n * = (b_j * U) + (b_k * V) + ((b_i + b_j + b_k) * v_i) - v_i\r\n * = (b_j * U) + (b_k * V) + v_i - v_i\r\n * = (b_j * U) + (b_k * V)\r\n * So we know p - v_i = b_jU + b_kV and q - v_i = fU\r\n * Therefore, 0 = (p - q).(v_j - v_i)\r\n * = ((p-v_i) - (q-v_i)).(v_j - v_i)\r\n * = (b_jU + b_kV - fU).U\r\n * = b_jU.U + b_kU.V - fU.U\r\n * Thus f = b_j + b_k(U.V/U.U)\r\n /\r\n k = Geometry.cyclic3dAxis(k);\r\n const i = Geometry.cyclic3dAxis(k + 1);\r\n const j = Geometry.cyclic3dAxis(i + 1);\r\n return b[j] + b[k] this.dotProductOfEdgeVectorsAtVertex(i) / this.edgeLengthSquared(k);\r\n }\r\n /*\r\n Compute the projection of a barycentric point p to the triangle T(v_0,v_1,v_2).\r\n * @param b0 barycentric coordinate of p corresponding to v_0\r\n * @param b1 barycentric coordinate of p corresponding to v_1\r\n * @param b2 barycentric coordinate of p corresponding to v_2\r\n * @returns closest edge start vertex index i and projection parameter f such that the projection\r\n * q = v_i + f * (v_j - v_i).\r\n /\r\n public closestPoint(b0: number, b1: number, b2: number): { closestEdgeIndex: number, closestEdgeParam: number } {\r\n const b: number[] = [b0, b1, b2];\r\n let edgeIndex = -1; // opposite-vertex index\r\n let edgeParam = 0.0;\r\n if (BarycentricTriangle.isInsideTriangle(b0, b1, b2)) { // projects to any edge\r\n edgeIndex = BarycentricTriangle.indexOfMinimum((i: number) => {\r\n // We want smallest projection distance d_i of p to e_i.\r\n // Since b_i=d_i\|e_i\|/2A we can compare quantities b_i/\|e_i\|.\r\n return b[i] b[i] / this.edgeLengthSquared(i); // avoid sqrt\r\n });\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondVertex(b0, b1, b2)) >= 0) { // projects to other edges, or any vertex\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0 \|\| edgeParam > 1) {\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0 \|\| edgeParam > 1) {\r\n edgeParam = 0.0;\r\n edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(this.closestVertexIndex(b0, b1, b2));\r\n }\r\n }\r\n } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondEdge(b0, b1, b2)) >= 0) { // projects to the edge or its vertices\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0) {\r\n edgeParam = 0.0; // start of this edge\r\n } else if (edgeParam > 1) {\r\n edgeParam = 0.0;\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1); // end of this edge = start of next edge\r\n }\r\n } else if ((edgeIndex = BarycentricTriangle.isOnBoundedEdge(b0, b1, b2)) >= 0) {\r\n edgeParam = 1 - b[BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex)];\r\n } else if ((edgeIndex = BarycentricTriangle.isOnVertex(b0, b1, b2)) >= 0) {\r\n edgeParam = 0.0;\r\n edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(edgeIndex);\r\n }\r\n // invalid edgeIndex shouldn't happen, but propagate it anyway\r\n assert(edgeIndex === 0 \|\| edgeIndex === 1 \|\| edgeIndex === 2);\r\n return {\r\n closestEdgeIndex: (edgeIndex < 0) ? -1 : BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex),\r\n closestEdgeParam: edgeParam,\r\n };\r\n }\r\n /*\r\n Compute the intersection of a line (parameterized as a ray) with the plane of this triangle.\r\n * @param ray infinite line to intersect, as a ray\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the line-plane intersection point `d.world`:\r\n * * `d.a` is the intersection parameter along the ray.\r\n * * The line intersects the plane of the triangle if and only if `d.isValid` returns true.\r\n * * The ray intersects the plane of the triangle if and only if `d.isValid` returns true and `d.a` >= 0.\r\n * * The ray intersects the triangle if and only if `d.isValid` returns true, `d.a` >= 0, and `d.isInsideOrOn`\r\n * returns true.\r\n * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n * @see [[pointToFraction]]\r\n /\r\n public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n result = TriangleLocationDetail.create(result);\r\n /\r\n Let r0 = ray.origin and d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\r\n * r0 + sd = p = b0v0 + b1v1 + b2v2\r\n * Subtract v0 from both ends, let u=v1-v0, v=v2-v0, c=r0-v0, and enforce b0+b1+b2=1:\r\n * b1u + b2v - sd = c\r\n This is a linear system Mx = c where M has columns u,v,d and solution x=(b1,b2,-s).\r\n /\r\n const r0 = ray.origin;\r\n const d = ray.direction;\r\n const u = BarycentricTriangle._workVector0 = Vector3d.createStartEnd(\r\n this.points[0], this.points[1], BarycentricTriangle._workVector0\r\n );\r\n const v = BarycentricTriangle._workVector1 = Vector3d.createStartEnd(\r\n this.points[0], this.points[2], BarycentricTriangle._workVector1\r\n );\r\n const M = BarycentricTriangle._workMatrix = Matrix3d.createColumns(u, v, d, BarycentricTriangle._workMatrix);\r\n const c = Vector3d.createStartEnd(this.points[0], r0, BarycentricTriangle._workVector0); // reuse workVector0\r\n const solution = BarycentricTriangle._workVector1; // reuse workVector1\r\n if (undefined === M.multiplyInverse(c, solution))\r\n return result; // invalid\r\n result.a = -solution.z; // = -(-s) = s\r\n ray.fractionToPoint(result.a, result.world);\r\n result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y); // = (1 - b1 - b2, b1, b2) = (b0 , b1, b2)\r\n const proj = this.closestPoint(result.local.x, result.local.y, result.local.z);\r\n result.closestEdgeIndex = proj.closestEdgeIndex;\r\n result.closestEdgeParam = proj.closestEdgeParam;\r\n return result;\r\n }\r\n /\r\n Compute the intersection of a line (parameterized as a line segment) with the plane of this triangle.\r\n * @param point0 start point of segment on line to intersect\r\n * @param point1 end point of segment on line to intersect\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the line-plane intersection point `d.world`:\r\n * * `d.isValid` returns true if and only if the line intersects the plane.\r\n * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n * * `d.a` is the intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the triangle.\r\n * @see [[intersectRay3d]]\r\n /\r\n public intersectSegment(point0: Point3d, point1: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n BarycentricTriangle._workRay = Ray3d.createStartEnd(point0, point1, BarycentricTriangle._workRay);\r\n return this.intersectRay3d(BarycentricTriangle._workRay, result);\r\n }\r\n /\r\n Adjust the location to the closest edge of the triangle if within either given tolerance.\r\n * @param location details of a point in the plane of the triangle (note that `location.local` and\r\n * `location.world` possibly updated to lie on the triangle closest edge)\r\n * @param distanceTolerance absolute distance tolerance (or zero to ignore)\r\n * @param parameterTolerance barycentric coordinate fractional tolerance (or zero to ignore)\r\n * @return whether the location was adjusted\r\n /\r\n public snapLocationToEdge(\r\n location: TriangleLocationDetail,\r\n distanceTolerance: number = Geometry.smallMetricDistance,\r\n parameterTolerance: number = Geometry.smallFloatingPoint\r\n ): boolean {\r\n if (!location.isValid)\r\n return false;\r\n // first try parametric tol to zero barycentric coordinate (no vertices or world distances used!)\r\n if (parameterTolerance > 0.0) {\r\n let numSnapped = 0;\r\n let newSum = 0.0;\r\n for (let i = 0; i < 3; i++) {\r\n const barycentricDist = Math.abs(location.local.at(i));\r\n if (barycentricDist > 0.0 && barycentricDist < parameterTolerance) {\r\n location.local.setAt(i, 0.0);\r\n numSnapped++;\r\n }\r\n newSum += location.local.at(i);\r\n }\r\n if (numSnapped > 0 && newSum > 0.0) {\r\n location.local.scaleInPlace(1.0 / newSum);\r\n if (1 === numSnapped) {\r\n location.closestEdgeIndex = BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(\r\n BarycentricTriangle.isOnBoundedEdge(location.local.x, location.local.y, location.local.z)\r\n );\r\n location.closestEdgeParam = 1.0 - location.local.at(location.closestEdgeIndex);\r\n } else { // 2 snapped, at vertex\r\n location.closestEdgeIndex = BarycentricTriangle.isOnVertex(\r\n location.local.x, location.local.y, location.local.z\r\n );\r\n location.closestEdgeParam = 0.0;\r\n }\r\n this.fractionToPoint(location.local.x, location.local.y, location.local.z, location.world);\r\n return true;\r\n }\r\n }\r\n // failing that, try distance tol to closest edge projection\r\n if (distanceTolerance > 0.0) {\r\n const i = location.closestEdgeIndex;\r\n const j = (i + 1) % 3;\r\n const k = (j + 1) % 3;\r\n const edgeProjection = BarycentricTriangle._workPoint = this.points[i].interpolate(\r\n location.closestEdgeParam, this.points[j], BarycentricTriangle._workPoint\r\n );\r\n const dist = location.world.distance(edgeProjection);\r\n if (dist > 0.0 && dist < distanceTolerance) {\r\n location.local.setAt(i, 1.0 - location.closestEdgeParam);\r\n location.local.setAt(j, location.closestEdgeParam);\r\n location.local.setAt(k, 0.0);\r\n location.world.setFrom(edgeProjection);\r\n return true;\r\n }\r\n }\r\n return false;\r\n }\r\n /\r\n Return the dot product of the scaled normals of the two triangles.\r\n * * The sign of the return value is useful for determining the triangles' relative orientation:\r\n * positive (negative) means the normals point into the same (opposite) half-space determined by\r\n * one of the triangles' planes; zero means the triangles are perpendicular.\r\n /\r\n public dotProductOfCrossProductsFromOrigin(other: BarycentricTriangle): number {\r\n BarycentricTriangle._workVector0 = this.points[0].crossProductToPoints(\r\n this.points[1], this.points[2], BarycentricTriangle._workVector0\r\n );\r\n BarycentricTriangle._workVector1 = other.points[0].crossProductToPoints(\r\n other.points[1], other.points[2], BarycentricTriangle._workVector1\r\n );\r\n return BarycentricTriangle._workVector0.dotProduct(BarycentricTriangle._workVector1);\r\n }\r\n /* Return the centroid of the 3 points. /\r\n public centroid(result?: Point3d): Point3d {\r\n // Do the scale as true division (rather than multiply by precomputed 1/3). This might protect one bit of result.\r\n return Point3d.create(\r\n (this.points[0].x + this.points[1].x + this.points[2].x) / 3.0,\r\n (this.points[0].y + this.points[1].y + this.points[2].y) / 3.0,\r\n (this.points[0].z + this.points[1].z + this.points[2].z) / 3.0,\r\n result\r\n );\r\n }\r\n /* Return the incenter of the triangle. /\r\n public incenter(result?: Point3d): Point3d {\r\n const a = this.edgeLength(0);\r\n const b = this.edgeLength(1);\r\n const c = this.edgeLength(2);\r\n const scale = Geometry.safeDivideFraction(1.0, a + b + c, 0.0);\r\n return this.fractionToPoint(scale a, scale * b, scale * c, result);\r\n }\r\n /** Return the circumcenter of the triangle. /\r\n public circumcenter(result?: Point3d): Point3d {\r\n const a2 = this.edgeLengthSquared(0);\r\n const b2 = this.edgeLengthSquared(1);\r\n const c2 = this.edgeLengthSquared(2);\r\n const x = a2 (b2 + c2 - a2);\r\n const y = b2 * (c2 + a2 - b2);\r\n const z = c2 * (a2 + b2 - c2);\r\n const scale = Geometry.safeDivideFraction(1.0, x + y + z, 0.0);\r\n return this.fractionToPoint(scale * x, scale * y, scale * z, result);\r\n }\r\n /** Test for point-by-point `isAlmostEqual` relationship. */\r\n public isAlmostEqual(other: BarycentricTriangle, tol?: number): boolean {\r\n return this.points[0].isAlmostEqual(other.points[0], tol)\r\n && this.points[1].isAlmostEqual(other.points[1], tol)\r\n && this.points[2].isAlmostEqual(other.points[2], tol);\r\n }\r\n}\r\n"]}
1	+ 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\n\r\nimport { assert } from \"@itwin/core-bentley\";\r\n\r\nimport { Geometry, PolygonLocation } from \"../Geometry\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n/\r\n Carries data about a location in the plane of a triangle.\r\n * * Each instance carries both world and barycentric coordinates for the point, and provides query\r\n * services on the latter.\r\n * * No tolerance is used when querying barycentric coordinates (e.g., `isInsideOrOn`, `classify`). Use\r\n * [[BarycentricTriangle.snapLocationToEdge]] to adjust the barycentric coordinates to a triangle edge\r\n * if they lie within a distance or parametric tolerance.\r\n \r\n Properties of the barycentric coordinates `(b0, b1, b2)` of a point `p` in the plane of a triangle\r\n * `T` with vertices `v0, v1, v2`:\r\n * * `1 = b0 + b1 + b2`\r\n * * `p = b0 * v0 + b1 * v1 + b2 * v2`\r\n * * If T is spanned by the vectors `U = v1 - v0` and `V = v2 - v0`, then the vector `P = p - v0` can\r\n * be written `P = b1 * U + b2 * V`.\r\n * * The coordinates are all nonnegative if and only if `p` is inside or on `T`.\r\n * * Exactly one coordinate is zero if and only if `p` lies on an (infinitely extended) edge of `T`.\r\n * * Exactly two coordinates are zero if and only if `p` coincides with a vertex of `T`.\r\n * * Note that if `p` can be written as a linear combination of the vertices of `T` using scales that do\r\n * NOT sum to 1, then `p` is not coplanar with `T`\r\n * @public\r\n /\r\nexport class TriangleLocationDetail {\r\n /* The Cartesian coordinates of the point p. /\r\n public world: Point3d;\r\n /* The barycentric coordinates of p with respect to the triangle. Assumed to sum to one. /\r\n public local: Point3d;\r\n /* Application-specific number /\r\n public a: number;\r\n /* Index of the triangle vertex at the start of the closest edge to p. /\r\n public closestEdgeIndex: number;\r\n /\r\n The parameter f along the closest edge to p of its projection q.\r\n * * We have q = v_i + f * (v_j - v_i) where i = closestEdgeIndex and j = (i + 1) % 3 are the indices\r\n * of the start vertex v_i and end vertex v_j of the closest edge to p.\r\n * * Note that 0 <= f <= 1.\r\n /\r\n public closestEdgeParam: number;\r\n\r\n private constructor() {\r\n this.world = new Point3d();\r\n this.local = new Point3d();\r\n this.a = 0.0;\r\n this.closestEdgeIndex = 0;\r\n this.closestEdgeParam = 0.0;\r\n }\r\n /* Invalidate this detail (set all attributes to zero) . /\r\n public invalidate() {\r\n this.world.setZero();\r\n this.local.setZero();\r\n this.a = 0.0;\r\n this.closestEdgeIndex = 0;\r\n this.closestEdgeParam = 0.0;\r\n }\r\n /\r\n Create an invalid detail.\r\n * @param result optional pre-allocated object to fill and return\r\n /\r\n public static create(result?: TriangleLocationDetail): TriangleLocationDetail {\r\n if (undefined === result)\r\n result = new TriangleLocationDetail();\r\n else\r\n result.invalidate();\r\n return result;\r\n }\r\n /\r\n Set the instance contents from the `other` detail.\r\n * @param other detail to clone\r\n /\r\n public copyContentsFrom(other: TriangleLocationDetail) {\r\n this.world.setFrom(other.world);\r\n this.local.setFrom(other.local);\r\n this.a = other.a;\r\n this.closestEdgeIndex = other.closestEdgeIndex;\r\n this.closestEdgeParam = other.closestEdgeParam;\r\n }\r\n /* Whether this detail is invalid. /\r\n public get isValid(): boolean {\r\n return !this.local.isZero;\r\n }\r\n /\r\n Queries the barycentric coordinates to determine whether this instance specifies a location inside or\r\n * on the triangle.\r\n * @see classify\r\n /\r\n public get isInsideOrOn(): boolean {\r\n return this.isValid && this.local.x >= 0.0 && this.local.y >= 0.0 && this.local.z >= 0.0;\r\n }\r\n /\r\n Queries this detail to classify the location of this instance with respect to the triangle.\r\n * @returns location code\r\n * @see isInsideOrOn\r\n /\r\n public get classify(): PolygonLocation {\r\n if (!this.isValid)\r\n return PolygonLocation.Unknown;\r\n if (this.isInsideOrOn) {\r\n let numZero = 0;\r\n if (Math.abs(this.local.x) === 0.0)\r\n ++numZero;\r\n if (Math.abs(this.local.y) === 0.0)\r\n ++numZero;\r\n if (Math.abs(this.local.z) === 0.0)\r\n ++numZero;\r\n if (2 === numZero)\r\n return PolygonLocation.OnPolygonVertex;\r\n if (1 === numZero)\r\n return PolygonLocation.OnPolygonEdgeInterior;\r\n return PolygonLocation.InsidePolygonProjectsToEdgeInterior;\r\n }\r\n return (this.closestEdgeParam === 0.0) ?\r\n PolygonLocation.OutsidePolygonProjectsToVertex :\r\n PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\r\n }\r\n}\r\n\r\n/\r\n 3 points defining a triangle to be evaluated with barycentric coordinates.\r\n * @public\r\n /\r\nexport class BarycentricTriangle {\r\n /* Array of 3 point coordinates for the triangle. /\r\n public points: Point3d[];\r\n /* Edge length squared cache, indexed by opposite vertex index /\r\n protected edgeLength2: number[];\r\n // private attributes\r\n private static _workPoint?: Point3d;\r\n private static _workVector0?: Vector3d;\r\n private static _workVector1?: Vector3d;\r\n private static _workRay?: Ray3d;\r\n private static _workMatrix?: Matrix3d;\r\n /\r\n Constructor.\r\n * * Point references are CAPTURED\r\n /\r\n protected constructor(point0: Point3d, point1: Point3d, point2: Point3d) {\r\n this.points = [];\r\n this.points.push(point0);\r\n this.points.push(point1);\r\n this.points.push(point2);\r\n this.edgeLength2 = [];\r\n this.edgeLength2.push(point1.distanceSquared(point2));\r\n this.edgeLength2.push(point0.distanceSquared(point2));\r\n this.edgeLength2.push(point0.distanceSquared(point1));\r\n }\r\n /\r\n Copy contents of (not pointers to) the given points. A vertex is zeroed if its corresponding input point\r\n * is undefined.\r\n /\r\n public set(point0: Point3d \| undefined, point1: Point3d \| undefined, point2: Point3d \| undefined) {\r\n this.points[0].setFromPoint3d(point0);\r\n this.points[1].setFromPoint3d(point1);\r\n this.points[2].setFromPoint3d(point2);\r\n this.edgeLength2[0] = this.points[1].distanceSquared(this.points[2]);\r\n this.edgeLength2[1] = this.points[0].distanceSquared(this.points[2]);\r\n this.edgeLength2[2] = this.points[0].distanceSquared(this.points[1]);\r\n }\r\n /* Copy all values from `other` /\r\n public setFrom(other: BarycentricTriangle) {\r\n for (let i = 0; i < 3; ++i) {\r\n this.points[i].setFromPoint3d(other.points[i]);\r\n this.edgeLength2[i] = other.edgeLength2[i];\r\n }\r\n }\r\n /\r\n Create a `BarycentricTriangle` with coordinates given by enumerated x,y,z of the 3 points.\r\n * @param result optional pre-allocated triangle.\r\n /\r\n public static createXYZXYZXYZ(\r\n x0: number, y0: number, z0: number,\r\n x1: number, y1: number, z1: number,\r\n x2: number, y2: number, z2: number,\r\n result?: BarycentricTriangle\r\n ): BarycentricTriangle {\r\n if (!result)\r\n return new this(Point3d.create(x0, y0, z0), Point3d.create(x1, y1, z1), Point3d.create(x2, y2, z2));\r\n result.points[0].set(x0, y0, z0);\r\n result.points[1].set(x1, y1, z1);\r\n result.points[2].set(x2, y2, z2);\r\n return result;\r\n }\r\n /* Create a triangle with coordinates cloned from given points. /\r\n public static create(\r\n point0: Point3d, point1: Point3d, point2: Point3d, result?: BarycentricTriangle\r\n ): BarycentricTriangle {\r\n if (!result)\r\n return new this(point0.clone(), point1.clone(), point2.clone());\r\n result.set(point0, point1, point2);\r\n return result;\r\n }\r\n /* Return a new `BarycentricTriangle` with the same coordinates. /\r\n public clone(result?: BarycentricTriangle): BarycentricTriangle {\r\n return BarycentricTriangle.create(this.points[0], this.points[1], this.points[2], result);\r\n }\r\n /* Return a clone of the transformed instance /\r\n public cloneTransformed(transform: Transform, result?: BarycentricTriangle): BarycentricTriangle {\r\n return BarycentricTriangle.create(\r\n transform.multiplyPoint3d(this.points[0], result?.points[0]),\r\n transform.multiplyPoint3d(this.points[1], result?.points[1]),\r\n transform.multiplyPoint3d(this.points[2], result?.points[2]),\r\n result\r\n );\r\n }\r\n /* Return the area of the triangle. /\r\n public get area(): number {\r\n // The magnitude of the cross product A × B is the area of the parallelogram spanned by A and B.\r\n return 0.5 this.points[0].crossProductToPointsMagnitude(this.points[1], this.points[2]);\r\n }\r\n /*\r\n Compute squared length of the triangle edge opposite the vertex with the given index.\r\n * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n /\r\n public edgeLengthSquared(oppositeVertexIndex: number): number {\r\n return this.edgeLength2[Geometry.cyclic3dAxis(oppositeVertexIndex)];\r\n }\r\n /\r\n Compute length of the triangle edge opposite the vertex with the given index.\r\n * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n /\r\n public edgeLength(oppositeVertexIndex: number): number {\r\n return Math.sqrt(this.edgeLengthSquared(oppositeVertexIndex));\r\n }\r\n /* Return area divided by sum of squared lengths. /\r\n public get aspectRatio(): number {\r\n return Geometry.safeDivideFraction(\r\n this.area, this.edgeLengthSquared(0) + this.edgeLengthSquared(1) + this.edgeLengthSquared(2), 0\r\n );\r\n }\r\n /* Return the perimeter of the triangle. /\r\n public get perimeter(): number {\r\n return this.edgeLength(0) + this.edgeLength(1) + this.edgeLength(2);\r\n }\r\n /\r\n Return the unit normal of the triangle.\r\n * @param result optional pre-allocated vector to fill and return.\r\n * @returns unit normal, or undefined if cross product length is too small.\r\n /\r\n public normal(result?: Vector3d): Vector3d \| undefined {\r\n const cross = this.points[0].crossProductToPoints(this.points[1], this.points[2], result);\r\n if (cross.tryNormalizeInPlace())\r\n return cross;\r\n return undefined;\r\n }\r\n /\r\n Sum the triangle points with given scales.\r\n * * If the scales sum to 1, they are barycentric coordinates, and hence the result point is in the plane of\r\n * the triangle. If all coordinates are non-negative then the result point is inside the triangle.\r\n * * If the scales do not sum to 1, the point is inside the triangle scaled (by the scale sum) from the origin.\r\n * @param b0 scale to apply to vertex 0\r\n * @param b1 scale to apply to vertex 1\r\n * @param b2 scale to apply to vertex 2\r\n * @param result optional pre-allocated point to fill and return\r\n * @return linear combination of the vertices of this triangle\r\n * @see [[pointToFraction]]\r\n /\r\n public fractionToPoint(b0: number, b1: number, b2: number, result?: Point3d): Point3d {\r\n // p = b0 v0 + b1 * v1 + b2 * v2\r\n return Point3d.createAdd3Scaled(this.points[0], b0, this.points[1], b1, this.points[2], b2, result);\r\n }\r\n /*\r\n Compute the projection of the given `point` onto the plane of this triangle.\r\n * @param point point p to project\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the projection point `P = d.world`:\r\n * * `d.isValid` returns true if and only if `this.normal()` is defined.\r\n * * `d.classify` can be used to determine where P lies with respect to the triangle.\r\n * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.\r\n * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle\r\n * @see [[fractionToPoint]]\r\n /\r\n public pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n const normal = BarycentricTriangle._workVector0 = this.normal(BarycentricTriangle._workVector0);\r\n if (undefined === normal)\r\n return TriangleLocationDetail.create(result);\r\n const ray = BarycentricTriangle._workRay = Ray3d.create(point, normal, BarycentricTriangle._workRay);\r\n return this.intersectRay3d(ray, result); // intersectRay3d is free to use workVector0\r\n }\r\n /* Convert from opposite-vertex to start-vertex edge indexing. /\r\n public static edgeOppositeVertexIndexToStartVertexIndex(edgeIndex: number): number {\r\n return Geometry.cyclic3dAxis(edgeIndex + 1);\r\n }\r\n /* Convert from start-vertex to opposite-vertex edge indexing. /\r\n public static edgeStartVertexIndexToOppositeVertexIndex(startVertexIndex: number): number {\r\n return Geometry.cyclic3dAxis(startVertexIndex - 1);\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies inside the triangle but not on an edge/vertex.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns whether the point with barycentric coordinates is strictly inside the triangle.\r\n /\r\n public static isInsideTriangle(b0: number, b1: number, b2: number): boolean {\r\n return b0 > 0 && b1 > 0 && b2 > 0;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies inside the triangle or on an edge/vertex.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns whether the point with barycentric coordinates is inside or on the triangle.\r\n /\r\n public static isInsideOrOnTriangle(b0: number, b1: number, b2: number): boolean {\r\n return b0 >= 0 && b1 >= 0 && b2 >= 0;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies outside an edge of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns edge index i (opposite vertex i) for which b_i < 0 and b_j >= 0, and b_k >= 0. Otherwise, returns -1.\r\n /\r\n private static isInRegionBeyondEdge(b0: number, b1: number, b2: number): number {\r\n // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n // edges to infinity and not by perpendicular lines to the edges (which gives smaller regions)\r\n if (b0 < 0 && b1 >= 0 && b2 >= 0)\r\n return 0;\r\n if (b0 >= 0 && b1 < 0 && b2 >= 0)\r\n return 1;\r\n if (b0 >= 0 && b1 >= 0 && b2 < 0)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies outside a vertex of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex i for which b_j < 0 and b_k < 0. Otherwise, returns -1.\r\n /\r\n private static isInRegionBeyondVertex(b0: number, b1: number, b2: number): number {\r\n // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n // edges to infinity and not by perpendicular lines to the edges (which gives larger regions)\r\n if (b1 < 0 && b2 < 0)\r\n return 0;\r\n if (b0 < 0 && b2 < 0)\r\n return 1;\r\n if (b0 < 0 && b1 < 0)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies on a vertex of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex i for which b_i = 1 and b_j = b_k = 0. Otherwise, returns -1.\r\n /\r\n private static isOnVertex(b0: number, b1: number, b2: number): number {\r\n if (b0 === 1 && b1 === 0 && b2 === 0)\r\n return 0;\r\n if (b0 === 0 && b1 === 1 && b2 === 0)\r\n return 1;\r\n if (b0 === 0 && b1 === 0 && b2 === 1)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies on a bounded edge of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns edge index i (opposite vertex i) for which b_i = 0, b_j > 0, and b_k > 0. Otherwise, returns -1.\r\n /\r\n private static isOnBoundedEdge(b0: number, b1: number, b2: number): number {\r\n if (b0 === 0 && b1 > 0 && b2 > 0)\r\n return 0;\r\n if (b0 > 0 && b1 === 0 && b2 > 0)\r\n return 1;\r\n if (b0 > 0 && b1 > 0 && b2 === 0)\r\n return 2;\r\n return -1;\r\n }\r\n /* @returns edge/vertex index (0,1,2) for which the function has a minimum value /\r\n private static indexOfMinimum(fn: (index: number) => number): number {\r\n let i = 0;\r\n let min = fn(0);\r\n const val = fn(1);\r\n if (min > val) {\r\n i = 1;\r\n min = val;\r\n }\r\n if (min > fn(2))\r\n i = 2;\r\n return i;\r\n }\r\n /\r\n Compute the squared distance between two points given by their barycentric coordinates.\r\n * * It is assumed that a0 + a1 + a2 = b0 + b1 + b2 = 1.\r\n /\r\n public distanceSquared(a0: number, a1: number, a2: number, b0: number, b1: number, b2: number): number {\r\n // The barycentric displacement vector distance formula\r\n // More details can be found at https://web.evanchen.cc/handouts/bary/bary-full.pdf\r\n return -this.edgeLengthSquared(0) (b1 - a1) * (b2 - a2)\r\n - this.edgeLengthSquared(1) * (b2 - a2) * (b0 - a0)\r\n - this.edgeLengthSquared(2) * (b0 - a0) * (b1 - a1);\r\n }\r\n /** Return the index of the closest triangle vertex to the point given by its barycentric coordinates. /\r\n public closestVertexIndex(b0: number, b1: number, b2: number): number {\r\n return BarycentricTriangle.indexOfMinimum((i: number) => {\r\n const a = BarycentricTriangle._workPoint = Point3d.createZero(BarycentricTriangle._workPoint);\r\n a.setAt(i, 1.0); // \"a\" is (1,0,0) or (0,1,0) or (0,0,1) so \"a\" represents vertex i\r\n return this.distanceSquared(a.x, a.y, a.z, b0, b1, b2); // distance between the point and vertex i\r\n });\r\n }\r\n /* Compute dot product of the edge vectors based at the vertex with the given index. /\r\n public dotProductOfEdgeVectorsAtVertex(baseVertexIndex: number): number {\r\n const i = Geometry.cyclic3dAxis(baseVertexIndex);\r\n const j = Geometry.cyclic3dAxis(i + 1);\r\n const k = Geometry.cyclic3dAxis(j + 1);\r\n return Geometry.dotProductXYZXYZ(\r\n this.points[j].x - this.points[i].x, this.points[j].y - this.points[i].y, this.points[j].z - this.points[i].z,\r\n this.points[k].x - this.points[i].x, this.points[k].y - this.points[i].y, this.points[k].z - this.points[i].z\r\n );\r\n }\r\n /\r\n Compute the projection of barycentric point p onto the (unbounded) edge e_k(v_i,v_j) of the triangle T(v_i,v_j,v_k).\r\n * @param k vertex v_k is opposite the edge e_k\r\n * @param b barycentric coordinates of point to project\r\n * @returns parameter f along e_k, such that:\r\n * * the projection point is q = v_i + f * (v_j - v_i)\r\n * * the barycentric coords of the projection are q_ijk = (1 - f, f, 0)\r\n /\r\n private computeProjectionToEdge(k: number, b: number[]): number {\r\n /\r\n We know p = (b_iv_i) + (b_jv_j) + (b_kv_k) and 1 = b_i + b_j + b_k.\r\n Let U = v_j - v_i and V = v_k - v_i and P = p - v_i.\r\n * First we prove P = b_jU + b_kV.\r\n * P = (b_i * v_i) + (b_j * v_j) + (b_k * v_k) - v_i\r\n * = (b_i * v_i) + (b_j * (v_j-v_i)) + (b_j * v_i) + (b_k * (v_k-v_i)) + (b_k * v_i) - v_i\r\n * = (b_i * v_i) + (b_j * U) + (b_j * v_i) + (b_k * V) + (b_k * v_i) - v_i\r\n * = (b_j * U) + (b_k * V) + ((b_i + b_j + b_k) * v_i) - v_i\r\n * = (b_j * U) + (b_k * V) + v_i - v_i\r\n * = (b_j * U) + (b_k * V)\r\n * So we know p - v_i = b_jU + b_kV and q - v_i = fU\r\n * Therefore, 0 = (p - q).(v_j - v_i)\r\n * = ((p-v_i) - (q-v_i)).(v_j - v_i)\r\n * = (b_jU + b_kV - fU).U\r\n * = b_jU.U + b_kU.V - fU.U\r\n * Thus f = b_j + b_k(U.V/U.U)\r\n /\r\n k = Geometry.cyclic3dAxis(k);\r\n const i = Geometry.cyclic3dAxis(k + 1);\r\n const j = Geometry.cyclic3dAxis(i + 1);\r\n return b[j] + b[k] this.dotProductOfEdgeVectorsAtVertex(i) / this.edgeLengthSquared(k);\r\n }\r\n /*\r\n Compute the projection of a barycentric point p to the triangle T(v_0,v_1,v_2).\r\n * @param b0 barycentric coordinate of p corresponding to v_0\r\n * @param b1 barycentric coordinate of p corresponding to v_1\r\n * @param b2 barycentric coordinate of p corresponding to v_2\r\n * @returns closest edge start vertex index i and projection parameter f such that the projection\r\n * q = v_i + f * (v_j - v_i).\r\n /\r\n public closestPoint(b0: number, b1: number, b2: number): { closestEdgeIndex: number, closestEdgeParam: number } {\r\n const b: number[] = [b0, b1, b2];\r\n let edgeIndex = -1; // opposite-vertex index\r\n let edgeParam = 0.0;\r\n if (BarycentricTriangle.isInsideTriangle(b0, b1, b2)) { // projects to any edge\r\n edgeIndex = BarycentricTriangle.indexOfMinimum((i: number) => {\r\n // We want smallest projection distance d_i of p to e_i.\r\n // Since b_i=d_i\|e_i\|/2A we can compare quantities b_i/\|e_i\|.\r\n return b[i] b[i] / this.edgeLengthSquared(i); // avoid sqrt\r\n });\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondVertex(b0, b1, b2)) >= 0) { // projects to other edges, or any vertex\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0 \|\| edgeParam > 1) {\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0 \|\| edgeParam > 1) {\r\n edgeParam = 0.0;\r\n edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(this.closestVertexIndex(b0, b1, b2));\r\n }\r\n }\r\n } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondEdge(b0, b1, b2)) >= 0) { // projects to the edge or its vertices\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0) {\r\n edgeParam = 0.0; // start of this edge\r\n } else if (edgeParam > 1) {\r\n edgeParam = 0.0;\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1); // end of this edge = start of next edge\r\n }\r\n } else if ((edgeIndex = BarycentricTriangle.isOnBoundedEdge(b0, b1, b2)) >= 0) {\r\n edgeParam = 1 - b[BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex)];\r\n } else if ((edgeIndex = BarycentricTriangle.isOnVertex(b0, b1, b2)) >= 0) {\r\n edgeParam = 0.0;\r\n edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(edgeIndex);\r\n }\r\n // invalid edgeIndex shouldn't happen, but propagate it anyway\r\n assert(edgeIndex === 0 \|\| edgeIndex === 1 \|\| edgeIndex === 2);\r\n return {\r\n closestEdgeIndex: (edgeIndex < 0) ? -1 : BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex),\r\n closestEdgeParam: edgeParam,\r\n };\r\n }\r\n /*\r\n Compute the intersection of a line (parameterized as a ray) with the plane of this triangle.\r\n * @param ray infinite line to intersect, as a ray\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the line-plane intersection point `d.world`:\r\n * * `d.a` is the intersection parameter along the ray.\r\n * * The line intersects the plane of the triangle if and only if `d.isValid` returns true.\r\n * * The ray intersects the plane of the triangle if and only if `d.isValid` returns true and `d.a` >= 0.\r\n * * The ray intersects the triangle if and only if `d.isValid` returns true, `d.a` >= 0, and `d.isInsideOrOn`\r\n * returns true.\r\n * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection\r\n * @see [[pointToFraction]]\r\n /\r\n public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n result = TriangleLocationDetail.create(result);\r\n /\r\n Let r0 = ray.origin and d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\r\n * r0 + sd = p = b0v0 + b1v1 + b2v2\r\n * Subtract v0 from both ends, let u=v1-v0, v=v2-v0, c=r0-v0, and enforce b0+b1+b2=1:\r\n * b1u + b2v - sd = c\r\n This is a linear system Mx = c where M has columns u,v,d and solution x=(b1,b2,-s).\r\n /\r\n const r0 = ray.origin;\r\n const d = ray.direction;\r\n const u = BarycentricTriangle._workVector0 = Vector3d.createStartEnd(\r\n this.points[0], this.points[1], BarycentricTriangle._workVector0\r\n );\r\n const v = BarycentricTriangle._workVector1 = Vector3d.createStartEnd(\r\n this.points[0], this.points[2], BarycentricTriangle._workVector1\r\n );\r\n const M = BarycentricTriangle._workMatrix = Matrix3d.createColumns(u, v, d, BarycentricTriangle._workMatrix);\r\n const c = Vector3d.createStartEnd(this.points[0], r0, BarycentricTriangle._workVector0); // reuse workVector0\r\n const solution = BarycentricTriangle._workVector1; // reuse workVector1\r\n if (undefined === M.multiplyInverse(c, solution))\r\n return result; // invalid\r\n result.a = -solution.z; // = -(-s) = s\r\n ray.fractionToPoint(result.a, result.world);\r\n result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y); // = (1 - b1 - b2, b1, b2) = (b0 , b1, b2)\r\n const proj = this.closestPoint(result.local.x, result.local.y, result.local.z);\r\n result.closestEdgeIndex = proj.closestEdgeIndex;\r\n result.closestEdgeParam = proj.closestEdgeParam;\r\n return result;\r\n }\r\n /\r\n Compute the intersection of a line (parameterized as a line segment) with the plane of this triangle.\r\n * @param point0 start point of segment on line to intersect\r\n * @param point1 end point of segment on line to intersect\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the line-plane intersection point `d.world`:\r\n * * `d.isValid` returns true if and only if the line intersects the plane.\r\n * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n * * `d.a` is the intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the triangle.\r\n * @see [[intersectRay3d]]\r\n /\r\n public intersectSegment(point0: Point3d, point1: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n BarycentricTriangle._workRay = Ray3d.createStartEnd(point0, point1, BarycentricTriangle._workRay);\r\n return this.intersectRay3d(BarycentricTriangle._workRay, result);\r\n }\r\n /\r\n Adjust the location to the closest edge of the triangle if within either given tolerance.\r\n * @param location details of a point in the plane of the triangle (note that `location.local` and\r\n * `location.world` possibly updated to lie on the triangle closest edge)\r\n * @param distanceTolerance absolute distance tolerance (or zero to ignore)\r\n * @param parameterTolerance barycentric coordinate fractional tolerance (or zero to ignore)\r\n * @return whether the location was adjusted\r\n /\r\n public snapLocationToEdge(\r\n location: TriangleLocationDetail,\r\n distanceTolerance: number = Geometry.smallMetricDistance,\r\n parameterTolerance: number = Geometry.smallFloatingPoint\r\n ): boolean {\r\n if (!location.isValid)\r\n return false;\r\n // first try parametric tol to zero barycentric coordinate (no vertices or world distances used!)\r\n if (parameterTolerance > 0.0) {\r\n let numSnapped = 0;\r\n let newSum = 0.0;\r\n for (let i = 0; i < 3; i++) {\r\n const barycentricDist = Math.abs(location.local.at(i));\r\n if (barycentricDist > 0.0 && barycentricDist < parameterTolerance) {\r\n location.local.setAt(i, 0.0);\r\n numSnapped++;\r\n }\r\n newSum += location.local.at(i);\r\n }\r\n if (numSnapped > 0 && newSum > 0.0) {\r\n location.local.scaleInPlace(1.0 / newSum);\r\n if (1 === numSnapped) {\r\n location.closestEdgeIndex = BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(\r\n BarycentricTriangle.isOnBoundedEdge(location.local.x, location.local.y, location.local.z)\r\n );\r\n location.closestEdgeParam = 1.0 - location.local.at(location.closestEdgeIndex);\r\n } else { // 2 snapped, at vertex\r\n location.closestEdgeIndex = BarycentricTriangle.isOnVertex(\r\n location.local.x, location.local.y, location.local.z\r\n );\r\n location.closestEdgeParam = 0.0;\r\n }\r\n this.fractionToPoint(location.local.x, location.local.y, location.local.z, location.world);\r\n return true;\r\n }\r\n }\r\n // failing that, try distance tol to closest edge projection\r\n if (distanceTolerance > 0.0) {\r\n const i = location.closestEdgeIndex;\r\n const j = (i + 1) % 3;\r\n const k = (j + 1) % 3;\r\n const edgeProjection = BarycentricTriangle._workPoint = this.points[i].interpolate(\r\n location.closestEdgeParam, this.points[j], BarycentricTriangle._workPoint\r\n );\r\n const dist = location.world.distance(edgeProjection);\r\n if (dist > 0.0 && dist < distanceTolerance) {\r\n location.local.setAt(i, 1.0 - location.closestEdgeParam);\r\n location.local.setAt(j, location.closestEdgeParam);\r\n location.local.setAt(k, 0.0);\r\n location.world.setFrom(edgeProjection);\r\n return true;\r\n }\r\n }\r\n return false;\r\n }\r\n /\r\n Return the dot product of the scaled normals of the two triangles.\r\n * * The sign of the return value is useful for determining the triangles' relative orientation:\r\n * positive (negative) means the normals point into the same (opposite) half-space determined by\r\n * one of the triangles' planes; zero means the triangles are perpendicular.\r\n /\r\n public dotProductOfCrossProductsFromOrigin(other: BarycentricTriangle): number {\r\n BarycentricTriangle._workVector0 = this.points[0].crossProductToPoints(\r\n this.points[1], this.points[2], BarycentricTriangle._workVector0\r\n );\r\n BarycentricTriangle._workVector1 = other.points[0].crossProductToPoints(\r\n other.points[1], other.points[2], BarycentricTriangle._workVector1\r\n );\r\n return BarycentricTriangle._workVector0.dotProduct(BarycentricTriangle._workVector1);\r\n }\r\n /* Return the centroid of the 3 points. /\r\n public centroid(result?: Point3d): Point3d {\r\n // Do the scale as true division (rather than multiply by precomputed 1/3). This might protect one bit of result.\r\n return Point3d.create(\r\n (this.points[0].x + this.points[1].x + this.points[2].x) / 3.0,\r\n (this.points[0].y + this.points[1].y + this.points[2].y) / 3.0,\r\n (this.points[0].z + this.points[1].z + this.points[2].z) / 3.0,\r\n result\r\n );\r\n }\r\n /* Return the incenter of the triangle. /\r\n public incenter(result?: Point3d): Point3d {\r\n const a = this.edgeLength(0);\r\n const b = this.edgeLength(1);\r\n const c = this.edgeLength(2);\r\n const scale = Geometry.safeDivideFraction(1.0, a + b + c, 0.0);\r\n return this.fractionToPoint(scale a, scale * b, scale * c, result);\r\n }\r\n /** Return the circumcenter of the triangle. /\r\n public circumcenter(result?: Point3d): Point3d {\r\n const a2 = this.edgeLengthSquared(0);\r\n const b2 = this.edgeLengthSquared(1);\r\n const c2 = this.edgeLengthSquared(2);\r\n const x = a2 (b2 + c2 - a2);\r\n const y = b2 * (c2 + a2 - b2);\r\n const z = c2 * (a2 + b2 - c2);\r\n const scale = Geometry.safeDivideFraction(1.0, x + y + z, 0.0);\r\n return this.fractionToPoint(scale * x, scale * y, scale * z, result);\r\n }\r\n /** Test for point-by-point `isAlmostEqual` relationship. */\r\n public isAlmostEqual(other: BarycentricTriangle, tol?: number): boolean {\r\n return this.points[0].isAlmostEqual(other.points[0], tol)\r\n && this.points[1].isAlmostEqual(other.points[1], tol)\r\n && this.points[2].isAlmostEqual(other.points[2], tol);\r\n }\r\n}\r\n"]}

package/lib/cjs/geometry3d/Ray3d.d.ts CHANGED Viewed

@@ -44,7 +44,13 @@ export declare class Ray3d implements BeJSONFunctions {
      * directions to be scaled or opposing.
      */
     isAlmostEqual(other: Ray3d): boolean;
-    /** Return the dot product of the ray's direction vector with a vector from the ray origin to the `spacePoint`. */
+    /**
+     * Return the dot product of the ray's direction vector with a vector from the ray origin
+     * to the `spacePoint`.
+     * * If the instance is the unit normal of a plane, then this method returns the (signed) altitude
+     * of `spacePoint` with respect to the plane.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ProjectVectorOnPlane
+     */
     dotProductToPoint(spacePoint: Point3d): number;
     /** Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. */
     pointToFraction(spacePoint: Point3d): number;

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package/lib/cjs/geometry3d/Ray3d.js CHANGED Viewed

@@ -64,7 +64,13 @@ class Ray3d {
     isAlmostEqual(other) {
         return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);
     }
-    /** Return the dot product of the ray's direction vector with a vector from the ray origin to the `spacePoint`. */
+    /**
+     * Return the dot product of the ray's direction vector with a vector from the ray origin
+     * to the `spacePoint`.
+     * * If the instance is the unit normal of a plane, then this method returns the (signed) altitude
+     * of `spacePoint` with respect to the plane.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ProjectVectorOnPlane
+     */
     dotProductToPoint(spacePoint) {
         return this.direction.dotProductStartEnd(this.origin, spacePoint);
     }

package/lib/cjs/geometry3d/Ray3d.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\n\r\n// cspell:word Cramer\r\n/\r\n A Ray3d contains\r\n * * an `origin` point.\r\n * * a `direction` vector (The vector is not required to be normalized).\r\n * * an optional weight (number).\r\n * @public\r\n /\r\nexport class Ray3d implements BeJSONFunctions {\r\n /* The ray origin /\r\n public origin: Point3d;\r\n /* The ray direction. This is commonly (but not always) a unit vector. /\r\n public direction: Vector3d;\r\n /* Numeric annotation. /\r\n public a?: number; // optional (e.g. weight)\r\n private static _workVector0?: Vector3d;\r\n private static _workVector1?: Vector3d;\r\n private static _workVector2?: Vector3d;\r\n private static _workVector3?: Vector3d;\r\n private static _workVector4?: Vector3d;\r\n // constructor (captures references)\r\n private constructor(origin: Point3d, direction: Vector3d) {\r\n this.origin = origin;\r\n this.direction = direction;\r\n this.a = undefined;\r\n }\r\n private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n }\r\n /* Create a ray on the x axis. /\r\n public static createXAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 1, 0, 0);\r\n }\r\n /* Create a ray on the y axis. /\r\n public static createYAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 0, 1, 0);\r\n }\r\n /* Create a ray on the z axis. /\r\n public static createZAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 0, 0, 1);\r\n }\r\n /* Create a ray with all zeros. /\r\n public static createZero(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setZero();\r\n result.direction.setZero();\r\n return result;\r\n }\r\n return new Ray3d(Point3d.createZero(), Vector3d.createZero());\r\n }\r\n /\r\n Test for nearly equal Ray3d objects.\r\n * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.\r\n * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the\r\n * directions to be scaled or opposing.\r\n /\r\n public isAlmostEqual(other: Ray3d): boolean {\r\n return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);\r\n }\r\n /* Return the dot product of the ray's direction vector with a vector from the ray origin to the `spacePoint`. /\r\n public dotProductToPoint(spacePoint: Point3d): number {\r\n return this.direction.dotProductStartEnd(this.origin, spacePoint);\r\n }\r\n /* Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. /\r\n public pointToFraction(spacePoint: Point3d): number {\r\n return Geometry.safeDivideFraction(\r\n this.dotProductToPoint(spacePoint),\r\n this.direction.magnitudeSquared(),\r\n 0\r\n );\r\n }\r\n /* Return the `spacePoint` projected onto the ray. /\r\n public projectPointToRay(spacePoint: Point3d): Point3d {\r\n /\r\n To project a point to the ray, we can create a vector called \"v\" from ray origin to the spacePoint and project\r\n * that vector to the ray direction vector \"r\". The projection is \"((v.r)/\|\|r\|\|^2) r\" where \"v.r\" is the dot\r\n * product. Note that pointToFraction returns \"(v.r)/\|\|r\|\|^2\".\r\n * Note: If r is the normal of a plane, then projection length \"(v.r)/\|\|r\|\|\" is the signed altitude of the\r\n * spacePoint with respect to the plane.\r\n /\r\n return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\r\n }\r\n /\r\n Test for nearly equal rays, allowing origin float and direction scaling.\r\n * * Use [[isAlmostEqual]] to require member-by-member comparison.\r\n /\r\n public isAlmostEqualPointSet(other: Ray3d): boolean {\r\n /\r\n This function tests two rays to determine if they define the same infinite lines.\r\n * So the origins can be different as long as they are on the infinite line (they can\r\n * \"float\") but the directions must be parallel or antiparallel.\r\n /\r\n if (!this.direction.isParallelTo(other.direction, true))\r\n return false;\r\n /\r\n In exact math, we consider a ray to have an infinite line as direction (not a finite vector).\r\n * Therefore, in exact math it is not possible for one origin to be on the other ray but not vice\r\n * versa. However, we test both ways because first check may pass due to round-off errors.\r\n /\r\n let workPoint = this.projectPointToRay(other.origin);\r\n if (!other.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n workPoint = other.projectPointToRay(this.origin);\r\n if (!this.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n return true;\r\n }\r\n /* Create a ray from origin and direction. /\r\n public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(origin, direction);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), direction.clone());\r\n }\r\n /\r\n Given a homogeneous point and its derivative components, construct a Ray3d with cartesian\r\n * coordinates and derivatives.\r\n * @param weightedPoint `[x,y,z,w]` parts of weighted point.\r\n * @param weightedDerivative `[x,y,z,w]` derivatives\r\n * @param result\r\n /\r\n public static createWeightedDerivative(\r\n weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d\r\n ): Ray3d \| undefined {\r\n const w = weightedPoint[3];\r\n const dw = weightedDerivative[3];\r\n const x = weightedPoint[0];\r\n const y = weightedPoint[1];\r\n const z = weightedPoint[2];\r\n const dx = weightedDerivative[0] w - weightedPoint[0] * dw;\r\n const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\r\n const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\r\n if (Geometry.isSmallMetricDistance(w))\r\n return undefined;\r\n const divW = 1.0 / w;\r\n const divWW = divW * divW;\r\n return Ray3d.createXYZUVW(\r\n x * divW, y * divW, z * divW,\r\n dx * divWW, dy * divWW, dz * divWW,\r\n result\r\n );\r\n }\r\n /** Create from coordinates of the origin and direction. /\r\n public static createXYZUVW(\r\n originX: number, originY: number, originZ: number,\r\n directionX: number, directionY: number, directionZ: number,\r\n result?: Ray3d\r\n ): Ray3d {\r\n if (result) {\r\n result.getOriginRef().set(originX, originY, originZ);\r\n result.getDirectionRef().set(directionX, directionY, directionZ);\r\n return result;\r\n }\r\n return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\r\n }\r\n /* Capture origin and direction in a new Ray3d. /\r\n public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\r\n return new Ray3d(origin, direction);\r\n }\r\n /* Create from (clones of) origin, direction, and numeric weight. /\r\n public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setFrom(direction);\r\n result.a = a;\r\n return result;\r\n }\r\n result = new Ray3d(origin.clone(), direction.clone());\r\n result.a = a;\r\n return result;\r\n }\r\n /* Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. /\r\n public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setStartEnd(origin, target);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\r\n }\r\n /* Return a reference to the ray's origin. /\r\n public getOriginRef(): Point3d {\r\n return this.origin;\r\n }\r\n /* Return a reference to the ray's direction vector. /\r\n public getDirectionRef(): Vector3d {\r\n return this.direction;\r\n }\r\n /* Copy coordinates from origin and direction. /\r\n public set(origin: Point3d, direction: Vector3d): void {\r\n this.origin.setFrom(origin);\r\n this.direction.setFrom(direction);\r\n }\r\n /* Clone the ray. /\r\n public clone(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(this.origin.clone(), this.direction.clone());\r\n return result;\r\n }\r\n return new Ray3d(this.origin.clone(), this.direction.clone());\r\n }\r\n /* Return a clone of the transformed instance /\r\n public cloneTransformed(transform: Transform, result?: Ray3d): Ray3d {\r\n return Ray3d.create(\r\n transform.multiplyPoint3d(this.origin, result?.origin),\r\n transform.multiplyVector(this.direction, result?.direction),\r\n result\r\n );\r\n }\r\n /* Create a clone and return the inverse transform of the clone. /\r\n public cloneInverseTransformed(transform: Transform, result?: Ray3d): Ray3d \| undefined {\r\n if (!transform.computeCachedInverse(true))\r\n return undefined;\r\n return Ray3d.create(\r\n transform.multiplyInversePoint3d(this.origin, result?.origin)!,\r\n transform.matrix.multiplyInverseXYZAsVector3d(\r\n this.direction.x, this.direction.y, this.direction.z, result?.direction\r\n )!,\r\n result\r\n );\r\n }\r\n /* Apply a transform in place. /\r\n public transformInPlace(transform: Transform) {\r\n transform.multiplyPoint3d(this.origin, this.origin);\r\n transform.multiplyVector(this.direction, this.direction);\r\n }\r\n /* Copy data from another ray. /\r\n public setFrom(source: Ray3d): void {\r\n this.set(source.origin, source.direction);\r\n }\r\n /\r\n Return a point at fractional position along the ray.\r\n * * fraction 0 is the ray origin.\r\n * * fraction 1 is at the end of the direction vector when placed at the origin.\r\n /\r\n public fractionToPoint(fraction: number, result?: Point3d): Point3d {\r\n return this.origin.plusScaled(this.direction, fraction, result);\r\n }\r\n /\r\n Return a transform for rigid axes at ray origin with z in ray direction.\r\n * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])\r\n /\r\n public toRigidZFrame(): Transform \| undefined {\r\n const axes = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY);\r\n return Transform.createOriginAndMatrix(this.origin, axes);\r\n }\r\n /* Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. /\r\n public setFromJSON(json?: any) {\r\n if (!json) {\r\n this.origin.set(0, 0, 0);\r\n this.direction.set(0, 0, 1);\r\n return;\r\n }\r\n this.origin.setFromJSON(json.origin);\r\n this.direction.setFromJSON(json.direction);\r\n }\r\n /\r\n Construct a JSON object from this Ray3d.\r\n * @return {} [origin,normal]\r\n /\r\n public toJSON(): any {\r\n return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };\r\n }\r\n /** Create a new ray from json object. See `setFromJSON` for json structure; /\r\n public static fromJSON(json?: any) {\r\n const result = Ray3d.createXAxis();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /\r\n Try to scale the direction vector to a given `magnitude`.\r\n * * Returns `false` if the ray direction is a zero vector.\r\n /\r\n public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\r\n if (this.direction.tryNormalizeInPlace()) {\r\n this.direction.scaleInPlace(magnitude);\r\n return true;\r\n }\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /\r\n Normalize the ray direction in place.\r\n * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\r\n * * Save the parameter `a` as the optional `a` member of the ray.\r\n * * Normalize the ray's direction vector.\r\n * * If parameter `a` is nearly zero,\r\n * * Set the `a` member to zero.\r\n * * Set the ray's direction vector to zero.\r\n * @param a value to be saved (e.g,. area).\r\n * @returns `true` if `a` is nonzero and normalization was successful. Otherwise, return `false`.\r\n /\r\n public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\r\n const tolerance = Geometry.smallMetricDistanceSquared;\r\n this.a = a;\r\n if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\r\n return true;\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /* Return distance from the ray to point in space. /\r\n public distance(spacePoint: Point3d): number {\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.dotProductToPoint(spacePoint);\r\n const aa = Geometry.inverseMetricDistanceSquared(uu);\r\n if (aa)\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv uv * aa);\r\n else\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint));\r\n }\r\n /*\r\n Return the intersection parameter of the line defined by the ray with a `plane`.\r\n * * Stores the point of intersection in the `result` point (if passed as a parameter) and returns the parameter\r\n * along the ray where the intersection occurs. If we call the parameter 'f' then the point of intersection would\r\n * be `ray.origin + f * ray.direction`. Therefore:\r\n * * if ray intersects the plane at its origin, the function returns f = 0.\r\n * * if intersects at `ray.origin + ray.direction`, the function returns f = 1.\r\n * * if intersects behind the ray origin, the function returns f < 0.\r\n * * if intersects after `ray.origin + ray.direction`, the function returns f > 1.\r\n * * Returns `undefined` if the ray and plane are parallel or coplanar.\r\n /\r\n public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number \| undefined {\r\n const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\r\n const uDotN = this.direction.dotProduct(plane.getNormalRef());\r\n const nDotN = this.direction.magnitudeSquared();\r\n const aDotN = vectorA.dotProduct(plane.getNormalRef());\r\n const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\r\n if (undefined === division)\r\n return undefined;\r\n const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\r\n if (undefined === division1)\r\n return undefined;\r\n if (result) {\r\n this.origin.plusScaled(this.direction, division, result);\r\n }\r\n return division;\r\n }\r\n /\r\n Find the intersection of the line defined by the ray with a Range3d.\r\n * * Return the range of parameters (on the ray) which are \"inside\" the range.\r\n * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.isNull`.\r\n /\r\n public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\r\n if (range.isNull)\r\n return Range1d.createNull(result);\r\n const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\r\n if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\r\n && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\r\n && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z)\r\n )\r\n return interval;\r\n return interval;\r\n }\r\n /\r\n Compute the intersection of the ray with a triangle.\r\n * @param vertex0 first vertex of the triangle\r\n * @param vertex1 second vertex of the triangle\r\n * @param vertex2 third vertex of the triangle\r\n * @param distanceTol optional tolerance used to check if ray is parallel to the triangle or if we have line\r\n * intersection but not ray intersection (if tolerance is not provided, Geometry.smallMetricDistance is used)\r\n * @param parameterTol optional tolerance used to snap barycentric coordinates of the intersection point to\r\n * a triangle edge or vertex (if tolerance is not provided, Geometry.smallFloatingPoint is used)\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns the intersection point if ray intersects the triangle. Otherwise, return undefined.\r\n /\r\n public intersectionWithTriangle(\r\n vertex0: Point3d, vertex1: Point3d, vertex2: Point3d, distanceTol?: number, parameterTol?: number, result?: Point3d\r\n ): Point3d \| undefined {\r\n /\r\n Suppose ray is shown by \"rayOrigin + trayVector\" and barycentric coordinate of point\r\n P = wv0 + uv1 + vv2 = (1-u-v)v0 + uv1 + vv2 = v0 + u(v1-v0) + v(v2-v0)\r\n \r\n Then if ray intersects triangle at a point we have\r\n * v0 + u(v1-v0) + v(v2-v0) = rayOrigin + trayVector\r\n or\r\n * -trayVector + u(v1-v0) + v(v2-v0) = rayOrigin - v0\r\n \r\n * This equation can be reformulated as the following linear system:\r\n \r\n [ \| \| \| ] [t] [ \| ]\r\n * [-rayVector v1-v0 v2-v0] [u] = [rayOrigin - v0]\r\n * [ \| \| \| ] [v] [ \| ]\r\n \r\n Then to find t, u, and v use Cramer's Rule and also the fact that if matrix A = [c1,c2,c3], then\r\n * det(A) = c1.(c2 x c3) which leads to\r\n \r\n t = [(rayOrigin - v0).((v1-v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n * u = [-rayVector.((rayOrigin - v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n * v = [-rayVector.((v1-v0) x (rayOrigin - v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n \r\n Now note that swapping any 2 vectors c_i and c_j in formula c1.(c2 x c3) negates it. For example:\r\n * c1.(c2 x c3) = -c3.(c2 x c1) = c2.(c3 x c1)\r\n \r\n This leads to the final formulas used in the following code:\r\n * t = [(v2-v0).((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n * u = [(rayOrigin - v0).(rayVector x (v2-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n * v = [-rayVector.((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n \r\n Note that we should verify 0 <= u,v,w <= 1. To do so we only need to check 0 <= u <= 1, 0 <= v, and u+v <= 1.\r\n * That's because w = 1-(u+v) and if we have those 4 checks, it's guaranteed that v <= 1 and 0 <= u+v and so\r\n * 0 <= w <= 1.\r\n \r\n More info be found at\r\n * https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm\r\n /\r\n if (distanceTol === undefined \|\| distanceTol < 0) // we explicitly allow zero tolerance\r\n distanceTol = Geometry.smallMetricDistance;\r\n if (parameterTol === undefined \|\| parameterTol < 0) // we explicitly allow zero tolerance\r\n parameterTol = Geometry.smallFloatingPoint;\r\n const edge1 = Ray3d._workVector0 = Vector3d.createStartEnd(vertex0, vertex1, Ray3d._workVector0);\r\n const edge2 = Ray3d._workVector1 = Vector3d.createStartEnd(vertex0, vertex2, Ray3d._workVector1);\r\n const h = Ray3d._workVector2 = this.direction.crossProduct(edge2, Ray3d._workVector2);\r\n const a = edge1.dotProduct(h);\r\n if (a >= -distanceTol && a <= distanceTol)\r\n return undefined; // ray is parallel to the triangle (includes coplanar case)\r\n const f = 1.0 / a;\r\n const s = Ray3d._workVector3 = Vector3d.createStartEnd(vertex0, this.origin, Ray3d._workVector3);\r\n let u = f s.dotProduct(h);\r\n if (u < 0.0) {\r\n if (u > -parameterTol)\r\n u = 0.0;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n } else if (u > 1.0) {\r\n if (u < 1.0 + parameterTol)\r\n u = 1.0;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n }\r\n const q = Ray3d._workVector4 = s.crossProduct(edge1, Ray3d._workVector4);\r\n let v = f * this.direction.dotProduct(q);\r\n if (v < 0.0) {\r\n if (v > -parameterTol)\r\n v = 0.0;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n } else if (u + v > 1.0) {\r\n if (u + v < 1.0 + parameterTol)\r\n v = 1.0 - u;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n }\r\n // at this stage, we know the line (parameterized as the ray) intersects the triangle\r\n const t = f * edge2.dotProduct(q);\r\n if (t <= distanceTol) // line intersection but not ray intersection\r\n return undefined;\r\n return this.origin.plusScaled(this.direction, t, result); // ray intersection\r\n }\r\n /*\r\n Return the shortest vector `v` to `targetPoint` from the line defined by this ray.\r\n * * If the projection of `targetPoint` onto the line defined by this ray is q, then `v = targetPoint - q`.\r\n /\r\n public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\r\n const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\r\n const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\r\n return vectorV.plusScaled(this.direction, -fraction, result);\r\n }\r\n /\r\n Determine if two rays intersect, or are fully overlapped, or parallel but not coincident, or skew.\r\n * * Return a CurveLocationDetailPair which contains fraction and point on each ray and has\r\n * annotation (in member `approachType`) indicating one of these relationships:\r\n * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated\r\n * in detailA and detailB\r\n * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.\r\n * The rays are skew in space.\r\n * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The\r\n * fractions and points are a representative single common point.\r\n * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are\r\n * at the minimum distance\r\n /\r\n public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\r\n const intersectionFractions = Vector2d.create();\r\n let fractionA, fractionB;\r\n let pointA, pointB;\r\n let pairType;\r\n if (SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\r\n rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\r\n rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z,\r\n intersectionFractions)\r\n ) {\r\n fractionA = intersectionFractions.x;\r\n fractionB = intersectionFractions.y;\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ?\r\n CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\r\n } else {\r\n fractionB = 0.0;\r\n fractionA = rayA.pointToFraction(rayB.origin);\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ?\r\n CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\r\n }\r\n const pair = CurveLocationDetailPair.createCapture(\r\n CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\r\n CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\r\n pair.approachType = pairType;\r\n return pair;\r\n }\r\n /\r\n Return a ray with `ray.origin` interpolated between `pt1` and `pt2` at the given `fraction`\r\n * and `ray.direction` set to the vector from `pt1` to `pt2` multiplied by the given `tangentScale`.\r\n * @param pt1 start point of the interpolation.\r\n * @param fraction fractional position between points.\r\n * @param pt2 end point of the interpolation.\r\n * @param tangentScale scale factor to apply to the startToEnd vector.\r\n * @param result optional receiver.\r\n /\r\n public static interpolatePointAndTangent(\r\n pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d\r\n ): Ray3d {\r\n result = result ?? Ray3d.createZero();\r\n const dx = pt2.x - pt1.x;\r\n const dy = pt2.y - pt1.y;\r\n const dz = pt2.z - pt1.z;\r\n result.direction.set(tangentScale dx, tangentScale * dy, tangentScale * dz);\r\n if (fraction <= 0.5)\r\n result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\r\n else {\r\n const t: number = fraction - 1.0;\r\n result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\r\n }\r\n return result;\r\n }\r\n}\r\n"]}
1	+ 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\n\r\n// cspell:word Cramer\r\n/\r\n A Ray3d contains\r\n * * an `origin` point.\r\n * * a `direction` vector (The vector is not required to be normalized).\r\n * * an optional weight (number).\r\n * @public\r\n /\r\nexport class Ray3d implements BeJSONFunctions {\r\n /* The ray origin /\r\n public origin: Point3d;\r\n /* The ray direction. This is commonly (but not always) a unit vector. /\r\n public direction: Vector3d;\r\n /* Numeric annotation. /\r\n public a?: number; // optional (e.g. weight)\r\n private static _workVector0?: Vector3d;\r\n private static _workVector1?: Vector3d;\r\n private static _workVector2?: Vector3d;\r\n private static _workVector3?: Vector3d;\r\n private static _workVector4?: Vector3d;\r\n // constructor (captures references)\r\n private constructor(origin: Point3d, direction: Vector3d) {\r\n this.origin = origin;\r\n this.direction = direction;\r\n this.a = undefined;\r\n }\r\n private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n }\r\n /* Create a ray on the x axis. /\r\n public static createXAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 1, 0, 0);\r\n }\r\n /* Create a ray on the y axis. /\r\n public static createYAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 0, 1, 0);\r\n }\r\n /* Create a ray on the z axis. /\r\n public static createZAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 0, 0, 1);\r\n }\r\n /* Create a ray with all zeros. /\r\n public static createZero(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setZero();\r\n result.direction.setZero();\r\n return result;\r\n }\r\n return new Ray3d(Point3d.createZero(), Vector3d.createZero());\r\n }\r\n /\r\n Test for nearly equal Ray3d objects.\r\n * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.\r\n * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the\r\n * directions to be scaled or opposing.\r\n /\r\n public isAlmostEqual(other: Ray3d): boolean {\r\n return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);\r\n }\r\n /\r\n Return the dot product of the ray's direction vector with a vector from the ray origin\r\n * to the `spacePoint`.\r\n * * If the instance is the unit normal of a plane, then this method returns the (signed) altitude\r\n * of `spacePoint` with respect to the plane.\r\n * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ProjectVectorOnPlane\r\n /\r\n public dotProductToPoint(spacePoint: Point3d): number {\r\n return this.direction.dotProductStartEnd(this.origin, spacePoint);\r\n }\r\n /* Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. /\r\n public pointToFraction(spacePoint: Point3d): number {\r\n return Geometry.safeDivideFraction(\r\n this.dotProductToPoint(spacePoint),\r\n this.direction.magnitudeSquared(),\r\n 0\r\n );\r\n }\r\n /* Return the `spacePoint` projected onto the ray. /\r\n public projectPointToRay(spacePoint: Point3d): Point3d {\r\n /\r\n To project a point to the ray, we can create a vector called \"v\" from ray origin to the spacePoint and project\r\n * that vector to the ray direction vector \"r\". The projection is \"((v.r)/\|\|r\|\|^2) r\" where \"v.r\" is the dot\r\n * product. Note that pointToFraction returns \"(v.r)/\|\|r\|\|^2\".\r\n * Note: If r is the normal of a plane, then projection length \"(v.r)/\|\|r\|\|\" is the signed altitude of the\r\n * spacePoint with respect to the plane.\r\n /\r\n return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\r\n }\r\n /\r\n Test for nearly equal rays, allowing origin float and direction scaling.\r\n * * Use [[isAlmostEqual]] to require member-by-member comparison.\r\n /\r\n public isAlmostEqualPointSet(other: Ray3d): boolean {\r\n /\r\n This function tests two rays to determine if they define the same infinite lines.\r\n * So the origins can be different as long as they are on the infinite line (they can\r\n * \"float\") but the directions must be parallel or antiparallel.\r\n /\r\n if (!this.direction.isParallelTo(other.direction, true))\r\n return false;\r\n /\r\n In exact math, we consider a ray to have an infinite line as direction (not a finite vector).\r\n * Therefore, in exact math it is not possible for one origin to be on the other ray but not vice\r\n * versa. However, we test both ways because first check may pass due to round-off errors.\r\n /\r\n let workPoint = this.projectPointToRay(other.origin);\r\n if (!other.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n workPoint = other.projectPointToRay(this.origin);\r\n if (!this.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n return true;\r\n }\r\n /* Create a ray from origin and direction. /\r\n public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(origin, direction);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), direction.clone());\r\n }\r\n /\r\n Given a homogeneous point and its derivative components, construct a Ray3d with cartesian\r\n * coordinates and derivatives.\r\n * @param weightedPoint `[x,y,z,w]` parts of weighted point.\r\n * @param weightedDerivative `[x,y,z,w]` derivatives\r\n * @param result\r\n /\r\n public static createWeightedDerivative(\r\n weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d\r\n ): Ray3d \| undefined {\r\n const w = weightedPoint[3];\r\n const dw = weightedDerivative[3];\r\n const x = weightedPoint[0];\r\n const y = weightedPoint[1];\r\n const z = weightedPoint[2];\r\n const dx = weightedDerivative[0] w - weightedPoint[0] * dw;\r\n const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\r\n const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\r\n if (Geometry.isSmallMetricDistance(w))\r\n return undefined;\r\n const divW = 1.0 / w;\r\n const divWW = divW * divW;\r\n return Ray3d.createXYZUVW(\r\n x * divW, y * divW, z * divW,\r\n dx * divWW, dy * divWW, dz * divWW,\r\n result\r\n );\r\n }\r\n /** Create from coordinates of the origin and direction. /\r\n public static createXYZUVW(\r\n originX: number, originY: number, originZ: number,\r\n directionX: number, directionY: number, directionZ: number,\r\n result?: Ray3d\r\n ): Ray3d {\r\n if (result) {\r\n result.getOriginRef().set(originX, originY, originZ);\r\n result.getDirectionRef().set(directionX, directionY, directionZ);\r\n return result;\r\n }\r\n return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\r\n }\r\n /* Capture origin and direction in a new Ray3d. /\r\n public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\r\n return new Ray3d(origin, direction);\r\n }\r\n /* Create from (clones of) origin, direction, and numeric weight. /\r\n public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setFrom(direction);\r\n result.a = a;\r\n return result;\r\n }\r\n result = new Ray3d(origin.clone(), direction.clone());\r\n result.a = a;\r\n return result;\r\n }\r\n /* Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. /\r\n public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setStartEnd(origin, target);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\r\n }\r\n /* Return a reference to the ray's origin. /\r\n public getOriginRef(): Point3d {\r\n return this.origin;\r\n }\r\n /* Return a reference to the ray's direction vector. /\r\n public getDirectionRef(): Vector3d {\r\n return this.direction;\r\n }\r\n /* Copy coordinates from origin and direction. /\r\n public set(origin: Point3d, direction: Vector3d): void {\r\n this.origin.setFrom(origin);\r\n this.direction.setFrom(direction);\r\n }\r\n /* Clone the ray. /\r\n public clone(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(this.origin.clone(), this.direction.clone());\r\n return result;\r\n }\r\n return new Ray3d(this.origin.clone(), this.direction.clone());\r\n }\r\n /* Return a clone of the transformed instance /\r\n public cloneTransformed(transform: Transform, result?: Ray3d): Ray3d {\r\n return Ray3d.create(\r\n transform.multiplyPoint3d(this.origin, result?.origin),\r\n transform.multiplyVector(this.direction, result?.direction),\r\n result\r\n );\r\n }\r\n /* Create a clone and return the inverse transform of the clone. /\r\n public cloneInverseTransformed(transform: Transform, result?: Ray3d): Ray3d \| undefined {\r\n if (!transform.computeCachedInverse(true))\r\n return undefined;\r\n return Ray3d.create(\r\n transform.multiplyInversePoint3d(this.origin, result?.origin)!,\r\n transform.matrix.multiplyInverseXYZAsVector3d(\r\n this.direction.x, this.direction.y, this.direction.z, result?.direction\r\n )!,\r\n result\r\n );\r\n }\r\n /* Apply a transform in place. /\r\n public transformInPlace(transform: Transform) {\r\n transform.multiplyPoint3d(this.origin, this.origin);\r\n transform.multiplyVector(this.direction, this.direction);\r\n }\r\n /* Copy data from another ray. /\r\n public setFrom(source: Ray3d): void {\r\n this.set(source.origin, source.direction);\r\n }\r\n /\r\n Return a point at fractional position along the ray.\r\n * * fraction 0 is the ray origin.\r\n * * fraction 1 is at the end of the direction vector when placed at the origin.\r\n /\r\n public fractionToPoint(fraction: number, result?: Point3d): Point3d {\r\n return this.origin.plusScaled(this.direction, fraction, result);\r\n }\r\n /\r\n Return a transform for rigid axes at ray origin with z in ray direction.\r\n * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])\r\n /\r\n public toRigidZFrame(): Transform \| undefined {\r\n const axes = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY);\r\n return Transform.createOriginAndMatrix(this.origin, axes);\r\n }\r\n /* Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. /\r\n public setFromJSON(json?: any) {\r\n if (!json) {\r\n this.origin.set(0, 0, 0);\r\n this.direction.set(0, 0, 1);\r\n return;\r\n }\r\n this.origin.setFromJSON(json.origin);\r\n this.direction.setFromJSON(json.direction);\r\n }\r\n /\r\n Construct a JSON object from this Ray3d.\r\n * @return {} [origin,normal]\r\n /\r\n public toJSON(): any {\r\n return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };\r\n }\r\n /** Create a new ray from json object. See `setFromJSON` for json structure; /\r\n public static fromJSON(json?: any) {\r\n const result = Ray3d.createXAxis();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /\r\n Try to scale the direction vector to a given `magnitude`.\r\n * * Returns `false` if the ray direction is a zero vector.\r\n /\r\n public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\r\n if (this.direction.tryNormalizeInPlace()) {\r\n this.direction.scaleInPlace(magnitude);\r\n return true;\r\n }\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /\r\n Normalize the ray direction in place.\r\n * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\r\n * * Save the parameter `a` as the optional `a` member of the ray.\r\n * * Normalize the ray's direction vector.\r\n * * If parameter `a` is nearly zero,\r\n * * Set the `a` member to zero.\r\n * * Set the ray's direction vector to zero.\r\n * @param a value to be saved (e.g,. area).\r\n * @returns `true` if `a` is nonzero and normalization was successful. Otherwise, return `false`.\r\n /\r\n public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\r\n const tolerance = Geometry.smallMetricDistanceSquared;\r\n this.a = a;\r\n if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\r\n return true;\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /* Return distance from the ray to point in space. /\r\n public distance(spacePoint: Point3d): number {\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.dotProductToPoint(spacePoint);\r\n const aa = Geometry.inverseMetricDistanceSquared(uu);\r\n if (aa)\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv uv * aa);\r\n else\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint));\r\n }\r\n /*\r\n Return the intersection parameter of the line defined by the ray with a `plane`.\r\n * * Stores the point of intersection in the `result` point (if passed as a parameter) and returns the parameter\r\n * along the ray where the intersection occurs. If we call the parameter 'f' then the point of intersection would\r\n * be `ray.origin + f * ray.direction`. Therefore:\r\n * * if ray intersects the plane at its origin, the function returns f = 0.\r\n * * if intersects at `ray.origin + ray.direction`, the function returns f = 1.\r\n * * if intersects behind the ray origin, the function returns f < 0.\r\n * * if intersects after `ray.origin + ray.direction`, the function returns f > 1.\r\n * * Returns `undefined` if the ray and plane are parallel or coplanar.\r\n /\r\n public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number \| undefined {\r\n const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\r\n const uDotN = this.direction.dotProduct(plane.getNormalRef());\r\n const nDotN = this.direction.magnitudeSquared();\r\n const aDotN = vectorA.dotProduct(plane.getNormalRef());\r\n const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\r\n if (undefined === division)\r\n return undefined;\r\n const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\r\n if (undefined === division1)\r\n return undefined;\r\n if (result) {\r\n this.origin.plusScaled(this.direction, division, result);\r\n }\r\n return division;\r\n }\r\n /\r\n Find the intersection of the line defined by the ray with a Range3d.\r\n * * Return the range of parameters (on the ray) which are \"inside\" the range.\r\n * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.isNull`.\r\n /\r\n public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\r\n if (range.isNull)\r\n return Range1d.createNull(result);\r\n const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\r\n if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\r\n && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\r\n && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z)\r\n )\r\n return interval;\r\n return interval;\r\n }\r\n /\r\n Compute the intersection of the ray with a triangle.\r\n * @param vertex0 first vertex of the triangle\r\n * @param vertex1 second vertex of the triangle\r\n * @param vertex2 third vertex of the triangle\r\n * @param distanceTol optional tolerance used to check if ray is parallel to the triangle or if we have line\r\n * intersection but not ray intersection (if tolerance is not provided, Geometry.smallMetricDistance is used)\r\n * @param parameterTol optional tolerance used to snap barycentric coordinates of the intersection point to\r\n * a triangle edge or vertex (if tolerance is not provided, Geometry.smallFloatingPoint is used)\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns the intersection point if ray intersects the triangle. Otherwise, return undefined.\r\n /\r\n public intersectionWithTriangle(\r\n vertex0: Point3d, vertex1: Point3d, vertex2: Point3d, distanceTol?: number, parameterTol?: number, result?: Point3d\r\n ): Point3d \| undefined {\r\n /\r\n Suppose ray is shown by \"rayOrigin + trayVector\" and barycentric coordinate of point\r\n P = wv0 + uv1 + vv2 = (1-u-v)v0 + uv1 + vv2 = v0 + u(v1-v0) + v(v2-v0)\r\n \r\n Then if ray intersects triangle at a point we have\r\n * v0 + u(v1-v0) + v(v2-v0) = rayOrigin + trayVector\r\n or\r\n * -trayVector + u(v1-v0) + v(v2-v0) = rayOrigin - v0\r\n \r\n * This equation can be reformulated as the following linear system:\r\n \r\n [ \| \| \| ] [t] [ \| ]\r\n * [-rayVector v1-v0 v2-v0] [u] = [rayOrigin - v0]\r\n * [ \| \| \| ] [v] [ \| ]\r\n \r\n Then to find t, u, and v use Cramer's Rule and also the fact that if matrix A = [c1,c2,c3], then\r\n * det(A) = c1.(c2 x c3) which leads to\r\n \r\n t = [(rayOrigin - v0).((v1-v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n * u = [-rayVector.((rayOrigin - v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n * v = [-rayVector.((v1-v0) x (rayOrigin - v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n \r\n Now note that swapping any 2 vectors c_i and c_j in formula c1.(c2 x c3) negates it. For example:\r\n * c1.(c2 x c3) = -c3.(c2 x c1) = c2.(c3 x c1)\r\n \r\n This leads to the final formulas used in the following code:\r\n * t = [(v2-v0).((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n * u = [(rayOrigin - v0).(rayVector x (v2-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n * v = [-rayVector.((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n \r\n Note that we should verify 0 <= u,v,w <= 1. To do so we only need to check 0 <= u <= 1, 0 <= v, and u+v <= 1.\r\n * That's because w = 1-(u+v) and if we have those 4 checks, it's guaranteed that v <= 1 and 0 <= u+v and so\r\n * 0 <= w <= 1.\r\n \r\n More info be found at\r\n * https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm\r\n /\r\n if (distanceTol === undefined \|\| distanceTol < 0) // we explicitly allow zero tolerance\r\n distanceTol = Geometry.smallMetricDistance;\r\n if (parameterTol === undefined \|\| parameterTol < 0) // we explicitly allow zero tolerance\r\n parameterTol = Geometry.smallFloatingPoint;\r\n const edge1 = Ray3d._workVector0 = Vector3d.createStartEnd(vertex0, vertex1, Ray3d._workVector0);\r\n const edge2 = Ray3d._workVector1 = Vector3d.createStartEnd(vertex0, vertex2, Ray3d._workVector1);\r\n const h = Ray3d._workVector2 = this.direction.crossProduct(edge2, Ray3d._workVector2);\r\n const a = edge1.dotProduct(h);\r\n if (a >= -distanceTol && a <= distanceTol)\r\n return undefined; // ray is parallel to the triangle (includes coplanar case)\r\n const f = 1.0 / a;\r\n const s = Ray3d._workVector3 = Vector3d.createStartEnd(vertex0, this.origin, Ray3d._workVector3);\r\n let u = f s.dotProduct(h);\r\n if (u < 0.0) {\r\n if (u > -parameterTol)\r\n u = 0.0;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n } else if (u > 1.0) {\r\n if (u < 1.0 + parameterTol)\r\n u = 1.0;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n }\r\n const q = Ray3d._workVector4 = s.crossProduct(edge1, Ray3d._workVector4);\r\n let v = f * this.direction.dotProduct(q);\r\n if (v < 0.0) {\r\n if (v > -parameterTol)\r\n v = 0.0;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n } else if (u + v > 1.0) {\r\n if (u + v < 1.0 + parameterTol)\r\n v = 1.0 - u;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n }\r\n // at this stage, we know the line (parameterized as the ray) intersects the triangle\r\n const t = f * edge2.dotProduct(q);\r\n if (t <= distanceTol) // line intersection but not ray intersection\r\n return undefined;\r\n return this.origin.plusScaled(this.direction, t, result); // ray intersection\r\n }\r\n /*\r\n Return the shortest vector `v` to `targetPoint` from the line defined by this ray.\r\n * * If the projection of `targetPoint` onto the line defined by this ray is q, then `v = targetPoint - q`.\r\n /\r\n public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\r\n const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\r\n const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\r\n return vectorV.plusScaled(this.direction, -fraction, result);\r\n }\r\n /\r\n Determine if two rays intersect, or are fully overlapped, or parallel but not coincident, or skew.\r\n * * Return a CurveLocationDetailPair which contains fraction and point on each ray and has\r\n * annotation (in member `approachType`) indicating one of these relationships:\r\n * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated\r\n * in detailA and detailB\r\n * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.\r\n * The rays are skew in space.\r\n * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The\r\n * fractions and points are a representative single common point.\r\n * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are\r\n * at the minimum distance\r\n /\r\n public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\r\n const intersectionFractions = Vector2d.create();\r\n let fractionA, fractionB;\r\n let pointA, pointB;\r\n let pairType;\r\n if (SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\r\n rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\r\n rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z,\r\n intersectionFractions)\r\n ) {\r\n fractionA = intersectionFractions.x;\r\n fractionB = intersectionFractions.y;\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ?\r\n CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\r\n } else {\r\n fractionB = 0.0;\r\n fractionA = rayA.pointToFraction(rayB.origin);\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ?\r\n CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\r\n }\r\n const pair = CurveLocationDetailPair.createCapture(\r\n CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\r\n CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\r\n pair.approachType = pairType;\r\n return pair;\r\n }\r\n /\r\n Return a ray with `ray.origin` interpolated between `pt1` and `pt2` at the given `fraction`\r\n * and `ray.direction` set to the vector from `pt1` to `pt2` multiplied by the given `tangentScale`.\r\n * @param pt1 start point of the interpolation.\r\n * @param fraction fractional position between points.\r\n * @param pt2 end point of the interpolation.\r\n * @param tangentScale scale factor to apply to the startToEnd vector.\r\n * @param result optional receiver.\r\n /\r\n public static interpolatePointAndTangent(\r\n pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d\r\n ): Ray3d {\r\n result = result ?? Ray3d.createZero();\r\n const dx = pt2.x - pt1.x;\r\n const dy = pt2.y - pt1.y;\r\n const dz = pt2.z - pt1.z;\r\n result.direction.set(tangentScale dx, tangentScale * dy, tangentScale * dz);\r\n if (fraction <= 0.5)\r\n result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\r\n else {\r\n const t: number = fraction - 1.0;\r\n result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\r\n }\r\n return result;\r\n }\r\n}\r\n"]}

package/lib/esm/geometry3d/BarycentricTriangle.d.ts CHANGED Viewed

@@ -150,6 +150,7 @@ export declare class BarycentricTriangle {
      * * `d.isValid` returns true if and only if `this.normal()` is defined.
      * * `d.classify` can be used to determine where P lies with respect to the triangle.
      * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle
      * @see [[fractionToPoint]]
      */
     pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail;
@@ -242,6 +243,7 @@ export declare class BarycentricTriangle {
      * * The ray intersects the triangle if and only if `d.isValid` returns true, `d.a` >= 0, and `d.isInsideOrOn`
      * returns true.
      * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection
      * @see [[pointToFraction]]
     */
     intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail;

package/lib/esm/geometry3d/BarycentricTriangle.d.ts.map CHANGED Viewed

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package/lib/esm/geometry3d/BarycentricTriangle.js CHANGED Viewed

@@ -235,6 +235,7 @@ export class BarycentricTriangle {
      * * `d.isValid` returns true if and only if `this.normal()` is defined.
      * * `d.classify` can be used to determine where P lies with respect to the triangle.
      * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle
      * @see [[fractionToPoint]]
      */
     pointToFraction(point, result) {
@@ -471,6 +472,7 @@ export class BarycentricTriangle {
      * * The ray intersects the triangle if and only if `d.isValid` returns true, `d.a` >= 0, and `d.isInsideOrOn`
      * returns true.
      * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection
      * @see [[pointToFraction]]
     */
     intersectRay3d(ray, result) {

package/lib/esm/geometry3d/BarycentricTriangle.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\n\r\nimport { assert } from \"@itwin/core-bentley\";\r\n\r\nimport { Geometry, PolygonLocation } from \"../Geometry\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n/\r\n Carries data about a location in the plane of a triangle.\r\n * * Each instance carries both world and barycentric coordinates for the point, and provides query\r\n * services on the latter.\r\n * * No tolerance is used when querying barycentric coordinates (e.g., `isInsideOrOn`, `classify`). Use\r\n * [[BarycentricTriangle.snapLocationToEdge]] to adjust the barycentric coordinates to a triangle edge\r\n * if they lie within a distance or parametric tolerance.\r\n \r\n Properties of the barycentric coordinates `(b0, b1, b2)` of a point `p` in the plane of a triangle\r\n * `T` with vertices `v0, v1, v2`:\r\n * * `1 = b0 + b1 + b2`\r\n * * `p = b0 * v0 + b1 * v1 + b2 * v2`\r\n * * If T is spanned by the vectors `U = v1 - v0` and `V = v2 - v0`, then the vector `P = p - v0` can\r\n * be written `P = b1 * U + b2 * V`.\r\n * * The coordinates are all nonnegative if and only if `p` is inside or on `T`.\r\n * * Exactly one coordinate is zero if and only if `p` lies on an (infinitely extended) edge of `T`.\r\n * * Exactly two coordinates are zero if and only if `p` coincides with a vertex of `T`.\r\n * * Note that if `p` can be written as a linear combination of the vertices of `T` using scales that do\r\n * NOT sum to 1, then `p` is not coplanar with `T`\r\n * @public\r\n /\r\nexport class TriangleLocationDetail {\r\n /* The Cartesian coordinates of the point p. /\r\n public world: Point3d;\r\n /* The barycentric coordinates of p with respect to the triangle. Assumed to sum to one. /\r\n public local: Point3d;\r\n /* Application-specific number /\r\n public a: number;\r\n /* Index of the triangle vertex at the start of the closest edge to p. /\r\n public closestEdgeIndex: number;\r\n /\r\n The parameter f along the closest edge to p of its projection q.\r\n * * We have q = v_i + f * (v_j - v_i) where i = closestEdgeIndex and j = (i + 1) % 3 are the indices\r\n * of the start vertex v_i and end vertex v_j of the closest edge to p.\r\n * * Note that 0 <= f <= 1.\r\n /\r\n public closestEdgeParam: number;\r\n\r\n private constructor() {\r\n this.world = new Point3d();\r\n this.local = new Point3d();\r\n this.a = 0.0;\r\n this.closestEdgeIndex = 0;\r\n this.closestEdgeParam = 0.0;\r\n }\r\n /* Invalidate this detail (set all attributes to zero) . /\r\n public invalidate() {\r\n this.world.setZero();\r\n this.local.setZero();\r\n this.a = 0.0;\r\n this.closestEdgeIndex = 0;\r\n this.closestEdgeParam = 0.0;\r\n }\r\n /\r\n Create an invalid detail.\r\n * @param result optional pre-allocated object to fill and return\r\n /\r\n public static create(result?: TriangleLocationDetail): TriangleLocationDetail {\r\n if (undefined === result)\r\n result = new TriangleLocationDetail();\r\n else\r\n result.invalidate();\r\n return result;\r\n }\r\n /\r\n Set the instance contents from the `other` detail.\r\n * @param other detail to clone\r\n /\r\n public copyContentsFrom(other: TriangleLocationDetail) {\r\n this.world.setFrom(other.world);\r\n this.local.setFrom(other.local);\r\n this.a = other.a;\r\n this.closestEdgeIndex = other.closestEdgeIndex;\r\n this.closestEdgeParam = other.closestEdgeParam;\r\n }\r\n /* Whether this detail is invalid. /\r\n public get isValid(): boolean {\r\n return !this.local.isZero;\r\n }\r\n /\r\n Queries the barycentric coordinates to determine whether this instance specifies a location inside or\r\n * on the triangle.\r\n * @see classify\r\n /\r\n public get isInsideOrOn(): boolean {\r\n return this.isValid && this.local.x >= 0.0 && this.local.y >= 0.0 && this.local.z >= 0.0;\r\n }\r\n /\r\n Queries this detail to classify the location of this instance with respect to the triangle.\r\n * @returns location code\r\n * @see isInsideOrOn\r\n /\r\n public get classify(): PolygonLocation {\r\n if (!this.isValid)\r\n return PolygonLocation.Unknown;\r\n if (this.isInsideOrOn) {\r\n let numZero = 0;\r\n if (Math.abs(this.local.x) === 0.0)\r\n ++numZero;\r\n if (Math.abs(this.local.y) === 0.0)\r\n ++numZero;\r\n if (Math.abs(this.local.z) === 0.0)\r\n ++numZero;\r\n if (2 === numZero)\r\n return PolygonLocation.OnPolygonVertex;\r\n if (1 === numZero)\r\n return PolygonLocation.OnPolygonEdgeInterior;\r\n return PolygonLocation.InsidePolygonProjectsToEdgeInterior;\r\n }\r\n return (this.closestEdgeParam === 0.0) ?\r\n PolygonLocation.OutsidePolygonProjectsToVertex :\r\n PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\r\n }\r\n}\r\n\r\n/\r\n 3 points defining a triangle to be evaluated with barycentric coordinates.\r\n * @public\r\n /\r\nexport class BarycentricTriangle {\r\n /* Array of 3 point coordinates for the triangle. /\r\n public points: Point3d[];\r\n /* Edge length squared cache, indexed by opposite vertex index /\r\n protected edgeLength2: number[];\r\n // private attributes\r\n private static _workPoint?: Point3d;\r\n private static _workVector0?: Vector3d;\r\n private static _workVector1?: Vector3d;\r\n private static _workRay?: Ray3d;\r\n private static _workMatrix?: Matrix3d;\r\n /\r\n Constructor.\r\n * * Point references are CAPTURED\r\n /\r\n protected constructor(point0: Point3d, point1: Point3d, point2: Point3d) {\r\n this.points = [];\r\n this.points.push(point0);\r\n this.points.push(point1);\r\n this.points.push(point2);\r\n this.edgeLength2 = [];\r\n this.edgeLength2.push(point1.distanceSquared(point2));\r\n this.edgeLength2.push(point0.distanceSquared(point2));\r\n this.edgeLength2.push(point0.distanceSquared(point1));\r\n }\r\n /\r\n Copy contents of (not pointers to) the given points. A vertex is zeroed if its corresponding input point\r\n * is undefined.\r\n /\r\n public set(point0: Point3d \| undefined, point1: Point3d \| undefined, point2: Point3d \| undefined) {\r\n this.points[0].setFromPoint3d(point0);\r\n this.points[1].setFromPoint3d(point1);\r\n this.points[2].setFromPoint3d(point2);\r\n this.edgeLength2[0] = this.points[1].distanceSquared(this.points[2]);\r\n this.edgeLength2[1] = this.points[0].distanceSquared(this.points[2]);\r\n this.edgeLength2[2] = this.points[0].distanceSquared(this.points[1]);\r\n }\r\n /* Copy all values from `other` /\r\n public setFrom(other: BarycentricTriangle) {\r\n for (let i = 0; i < 3; ++i) {\r\n this.points[i].setFromPoint3d(other.points[i]);\r\n this.edgeLength2[i] = other.edgeLength2[i];\r\n }\r\n }\r\n /\r\n Create a `BarycentricTriangle` with coordinates given by enumerated x,y,z of the 3 points.\r\n * @param result optional pre-allocated triangle.\r\n /\r\n public static createXYZXYZXYZ(\r\n x0: number, y0: number, z0: number,\r\n x1: number, y1: number, z1: number,\r\n x2: number, y2: number, z2: number,\r\n result?: BarycentricTriangle\r\n ): BarycentricTriangle {\r\n if (!result)\r\n return new this(Point3d.create(x0, y0, z0), Point3d.create(x1, y1, z1), Point3d.create(x2, y2, z2));\r\n result.points[0].set(x0, y0, z0);\r\n result.points[1].set(x1, y1, z1);\r\n result.points[2].set(x2, y2, z2);\r\n return result;\r\n }\r\n /* Create a triangle with coordinates cloned from given points. /\r\n public static create(\r\n point0: Point3d, point1: Point3d, point2: Point3d, result?: BarycentricTriangle\r\n ): BarycentricTriangle {\r\n if (!result)\r\n return new this(point0.clone(), point1.clone(), point2.clone());\r\n result.set(point0, point1, point2);\r\n return result;\r\n }\r\n /* Return a new `BarycentricTriangle` with the same coordinates. /\r\n public clone(result?: BarycentricTriangle): BarycentricTriangle {\r\n return BarycentricTriangle.create(this.points[0], this.points[1], this.points[2], result);\r\n }\r\n /* Return a clone of the transformed instance /\r\n public cloneTransformed(transform: Transform, result?: BarycentricTriangle): BarycentricTriangle {\r\n return BarycentricTriangle.create(\r\n transform.multiplyPoint3d(this.points[0], result?.points[0]),\r\n transform.multiplyPoint3d(this.points[1], result?.points[1]),\r\n transform.multiplyPoint3d(this.points[2], result?.points[2]),\r\n result\r\n );\r\n }\r\n /* Return the area of the triangle. /\r\n public get area(): number {\r\n // The magnitude of the cross product A × B is the area of the parallelogram spanned by A and B.\r\n return 0.5 this.points[0].crossProductToPointsMagnitude(this.points[1], this.points[2]);\r\n }\r\n /*\r\n Compute squared length of the triangle edge opposite the vertex with the given index.\r\n * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n /\r\n public edgeLengthSquared(oppositeVertexIndex: number): number {\r\n return this.edgeLength2[Geometry.cyclic3dAxis(oppositeVertexIndex)];\r\n }\r\n /\r\n Compute length of the triangle edge opposite the vertex with the given index.\r\n * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n /\r\n public edgeLength(oppositeVertexIndex: number): number {\r\n return Math.sqrt(this.edgeLengthSquared(oppositeVertexIndex));\r\n }\r\n /* Return area divided by sum of squared lengths. /\r\n public get aspectRatio(): number {\r\n return Geometry.safeDivideFraction(\r\n this.area, this.edgeLengthSquared(0) + this.edgeLengthSquared(1) + this.edgeLengthSquared(2), 0\r\n );\r\n }\r\n /* Return the perimeter of the triangle. /\r\n public get perimeter(): number {\r\n return this.edgeLength(0) + this.edgeLength(1) + this.edgeLength(2);\r\n }\r\n /\r\n Return the unit normal of the triangle.\r\n * @param result optional pre-allocated vector to fill and return.\r\n * @returns unit normal, or undefined if cross product length is too small.\r\n /\r\n public normal(result?: Vector3d): Vector3d \| undefined {\r\n const cross = this.points[0].crossProductToPoints(this.points[1], this.points[2], result);\r\n if (cross.tryNormalizeInPlace())\r\n return cross;\r\n return undefined;\r\n }\r\n /\r\n Sum the triangle points with given scales.\r\n * * If the scales sum to 1, they are barycentric coordinates, and hence the result point is in the plane of\r\n * the triangle. If all coordinates are non-negative then the result point is inside the triangle.\r\n * * If the scales do not sum to 1, the point is inside the triangle scaled (by the scale sum) from the origin.\r\n * @param b0 scale to apply to vertex 0\r\n * @param b1 scale to apply to vertex 1\r\n * @param b2 scale to apply to vertex 2\r\n * @param result optional pre-allocated point to fill and return\r\n * @return linear combination of the vertices of this triangle\r\n * @see [[pointToFraction]]\r\n /\r\n public fractionToPoint(b0: number, b1: number, b2: number, result?: Point3d): Point3d {\r\n // p = b0 v0 + b1 * v1 + b2 * v2\r\n return Point3d.createAdd3Scaled(this.points[0], b0, this.points[1], b1, this.points[2], b2, result);\r\n }\r\n /*\r\n Compute the projection of the given `point` onto the plane of this triangle.\r\n * @param point point p to project\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the projection point `P = d.world`:\r\n * * `d.isValid` returns true if and only if `this.normal()` is defined.\r\n * * `d.classify` can be used to determine where P lies with respect to the triangle.\r\n * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.\r\n * @see [[fractionToPoint]]\r\n /\r\n public pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n const normal = BarycentricTriangle._workVector0 = this.normal(BarycentricTriangle._workVector0);\r\n if (undefined === normal)\r\n return TriangleLocationDetail.create(result);\r\n const ray = BarycentricTriangle._workRay = Ray3d.create(point, normal, BarycentricTriangle._workRay);\r\n return this.intersectRay3d(ray, result); // intersectRay3d is free to use workVector0\r\n }\r\n /* Convert from opposite-vertex to start-vertex edge indexing. /\r\n public static edgeOppositeVertexIndexToStartVertexIndex(edgeIndex: number): number {\r\n return Geometry.cyclic3dAxis(edgeIndex + 1);\r\n }\r\n /* Convert from start-vertex to opposite-vertex edge indexing. /\r\n public static edgeStartVertexIndexToOppositeVertexIndex(startVertexIndex: number): number {\r\n return Geometry.cyclic3dAxis(startVertexIndex - 1);\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies inside the triangle but not on an edge/vertex.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns whether the point with barycentric coordinates is strictly inside the triangle.\r\n /\r\n public static isInsideTriangle(b0: number, b1: number, b2: number): boolean {\r\n return b0 > 0 && b1 > 0 && b2 > 0;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies inside the triangle or on an edge/vertex.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns whether the point with barycentric coordinates is inside or on the triangle.\r\n /\r\n public static isInsideOrOnTriangle(b0: number, b1: number, b2: number): boolean {\r\n return b0 >= 0 && b1 >= 0 && b2 >= 0;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies outside an edge of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns edge index i (opposite vertex i) for which b_i < 0 and b_j >= 0, and b_k >= 0. Otherwise, returns -1.\r\n /\r\n private static isInRegionBeyondEdge(b0: number, b1: number, b2: number): number {\r\n // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n // edges to infinity and not by perpendicular lines to the edges (which gives smaller regions)\r\n if (b0 < 0 && b1 >= 0 && b2 >= 0)\r\n return 0;\r\n if (b0 >= 0 && b1 < 0 && b2 >= 0)\r\n return 1;\r\n if (b0 >= 0 && b1 >= 0 && b2 < 0)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies outside a vertex of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex i for which b_j < 0 and b_k < 0. Otherwise, returns -1.\r\n /\r\n private static isInRegionBeyondVertex(b0: number, b1: number, b2: number): number {\r\n // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n // edges to infinity and not by perpendicular lines to the edges (which gives larger regions)\r\n if (b1 < 0 && b2 < 0)\r\n return 0;\r\n if (b0 < 0 && b2 < 0)\r\n return 1;\r\n if (b0 < 0 && b1 < 0)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies on a vertex of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex i for which b_i = 1 and b_j = b_k = 0. Otherwise, returns -1.\r\n /\r\n private static isOnVertex(b0: number, b1: number, b2: number): number {\r\n if (b0 === 1 && b1 === 0 && b2 === 0)\r\n return 0;\r\n if (b0 === 0 && b1 === 1 && b2 === 0)\r\n return 1;\r\n if (b0 === 0 && b1 === 0 && b2 === 1)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies on a bounded edge of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns edge index i (opposite vertex i) for which b_i = 0, b_j > 0, and b_k > 0. Otherwise, returns -1.\r\n /\r\n private static isOnBoundedEdge(b0: number, b1: number, b2: number): number {\r\n if (b0 === 0 && b1 > 0 && b2 > 0)\r\n return 0;\r\n if (b0 > 0 && b1 === 0 && b2 > 0)\r\n return 1;\r\n if (b0 > 0 && b1 > 0 && b2 === 0)\r\n return 2;\r\n return -1;\r\n }\r\n /* @returns edge/vertex index (0,1,2) for which the function has a minimum value /\r\n private static indexOfMinimum(fn: (index: number) => number): number {\r\n let i = 0;\r\n let min = fn(0);\r\n const val = fn(1);\r\n if (min > val) {\r\n i = 1;\r\n min = val;\r\n }\r\n if (min > fn(2))\r\n i = 2;\r\n return i;\r\n }\r\n /\r\n Compute the squared distance between two points given by their barycentric coordinates.\r\n * * It is assumed that a0 + a1 + a2 = b0 + b1 + b2 = 1.\r\n /\r\n public distanceSquared(a0: number, a1: number, a2: number, b0: number, b1: number, b2: number): number {\r\n // The barycentric displacement vector distance formula\r\n // More details can be found at https://web.evanchen.cc/handouts/bary/bary-full.pdf\r\n return -this.edgeLengthSquared(0) (b1 - a1) * (b2 - a2)\r\n - this.edgeLengthSquared(1) * (b2 - a2) * (b0 - a0)\r\n - this.edgeLengthSquared(2) * (b0 - a0) * (b1 - a1);\r\n }\r\n /** Return the index of the closest triangle vertex to the point given by its barycentric coordinates. /\r\n public closestVertexIndex(b0: number, b1: number, b2: number): number {\r\n return BarycentricTriangle.indexOfMinimum((i: number) => {\r\n const a = BarycentricTriangle._workPoint = Point3d.createZero(BarycentricTriangle._workPoint);\r\n a.setAt(i, 1.0); // \"a\" is (1,0,0) or (0,1,0) or (0,0,1) so \"a\" represents vertex i\r\n return this.distanceSquared(a.x, a.y, a.z, b0, b1, b2); // distance between the point and vertex i\r\n });\r\n }\r\n /* Compute dot product of the edge vectors based at the vertex with the given index. /\r\n public dotProductOfEdgeVectorsAtVertex(baseVertexIndex: number): number {\r\n const i = Geometry.cyclic3dAxis(baseVertexIndex);\r\n const j = Geometry.cyclic3dAxis(i + 1);\r\n const k = Geometry.cyclic3dAxis(j + 1);\r\n return Geometry.dotProductXYZXYZ(\r\n this.points[j].x - this.points[i].x, this.points[j].y - this.points[i].y, this.points[j].z - this.points[i].z,\r\n this.points[k].x - this.points[i].x, this.points[k].y - this.points[i].y, this.points[k].z - this.points[i].z\r\n );\r\n }\r\n /\r\n Compute the projection of barycentric point p onto the (unbounded) edge e_k(v_i,v_j) of the triangle T(v_i,v_j,v_k).\r\n * @param k vertex v_k is opposite the edge e_k\r\n * @param b barycentric coordinates of point to project\r\n * @returns parameter f along e_k, such that:\r\n * * the projection point is q = v_i + f * (v_j - v_i)\r\n * * the barycentric coords of the projection are q_ijk = (1 - f, f, 0)\r\n /\r\n private computeProjectionToEdge(k: number, b: number[]): number {\r\n /\r\n We know p = (b_iv_i) + (b_jv_j) + (b_kv_k) and 1 = b_i + b_j + b_k.\r\n Let U = v_j - v_i and V = v_k - v_i and P = p - v_i.\r\n * First we prove P = b_jU + b_kV.\r\n * P = (b_i * v_i) + (b_j * v_j) + (b_k * v_k) - v_i\r\n * = (b_i * v_i) + (b_j * (v_j-v_i)) + (b_j * v_i) + (b_k * (v_k-v_i)) + (b_k * v_i) - v_i\r\n * = (b_i * v_i) + (b_j * U) + (b_j * v_i) + (b_k * V) + (b_k * v_i) - v_i\r\n * = (b_j * U) + (b_k * V) + ((b_i + b_j + b_k) * v_i) - v_i\r\n * = (b_j * U) + (b_k * V) + v_i - v_i\r\n * = (b_j * U) + (b_k * V)\r\n * So we know p - v_i = b_jU + b_kV and q - v_i = fU\r\n * Therefore, 0 = (p - q).(v_j - v_i)\r\n * = ((p-v_i) - (q-v_i)).(v_j - v_i)\r\n * = (b_jU + b_kV - fU).U\r\n * = b_jU.U + b_kU.V - fU.U\r\n * Thus f = b_j + b_k(U.V/U.U)\r\n /\r\n k = Geometry.cyclic3dAxis(k);\r\n const i = Geometry.cyclic3dAxis(k + 1);\r\n const j = Geometry.cyclic3dAxis(i + 1);\r\n return b[j] + b[k] this.dotProductOfEdgeVectorsAtVertex(i) / this.edgeLengthSquared(k);\r\n }\r\n /*\r\n Compute the projection of a barycentric point p to the triangle T(v_0,v_1,v_2).\r\n * @param b0 barycentric coordinate of p corresponding to v_0\r\n * @param b1 barycentric coordinate of p corresponding to v_1\r\n * @param b2 barycentric coordinate of p corresponding to v_2\r\n * @returns closest edge start vertex index i and projection parameter f such that the projection\r\n * q = v_i + f * (v_j - v_i).\r\n /\r\n public closestPoint(b0: number, b1: number, b2: number): { closestEdgeIndex: number, closestEdgeParam: number } {\r\n const b: number[] = [b0, b1, b2];\r\n let edgeIndex = -1; // opposite-vertex index\r\n let edgeParam = 0.0;\r\n if (BarycentricTriangle.isInsideTriangle(b0, b1, b2)) { // projects to any edge\r\n edgeIndex = BarycentricTriangle.indexOfMinimum((i: number) => {\r\n // We want smallest projection distance d_i of p to e_i.\r\n // Since b_i=d_i\|e_i\|/2A we can compare quantities b_i/\|e_i\|.\r\n return b[i] b[i] / this.edgeLengthSquared(i); // avoid sqrt\r\n });\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondVertex(b0, b1, b2)) >= 0) { // projects to other edges, or any vertex\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0 \|\| edgeParam > 1) {\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0 \|\| edgeParam > 1) {\r\n edgeParam = 0.0;\r\n edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(this.closestVertexIndex(b0, b1, b2));\r\n }\r\n }\r\n } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondEdge(b0, b1, b2)) >= 0) { // projects to the edge or its vertices\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0) {\r\n edgeParam = 0.0; // start of this edge\r\n } else if (edgeParam > 1) {\r\n edgeParam = 0.0;\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1); // end of this edge = start of next edge\r\n }\r\n } else if ((edgeIndex = BarycentricTriangle.isOnBoundedEdge(b0, b1, b2)) >= 0) {\r\n edgeParam = 1 - b[BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex)];\r\n } else if ((edgeIndex = BarycentricTriangle.isOnVertex(b0, b1, b2)) >= 0) {\r\n edgeParam = 0.0;\r\n edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(edgeIndex);\r\n }\r\n // invalid edgeIndex shouldn't happen, but propagate it anyway\r\n assert(edgeIndex === 0 \|\| edgeIndex === 1 \|\| edgeIndex === 2);\r\n return {\r\n closestEdgeIndex: (edgeIndex < 0) ? -1 : BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex),\r\n closestEdgeParam: edgeParam,\r\n };\r\n }\r\n /*\r\n Compute the intersection of a line (parameterized as a ray) with the plane of this triangle.\r\n * @param ray infinite line to intersect, as a ray\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the line-plane intersection point `d.world`:\r\n * * `d.a` is the intersection parameter along the ray.\r\n * * The line intersects the plane of the triangle if and only if `d.isValid` returns true.\r\n * * The ray intersects the plane of the triangle if and only if `d.isValid` returns true and `d.a` >= 0.\r\n * * The ray intersects the triangle if and only if `d.isValid` returns true, `d.a` >= 0, and `d.isInsideOrOn`\r\n * returns true.\r\n * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n * @see [[pointToFraction]]\r\n /\r\n public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n result = TriangleLocationDetail.create(result);\r\n /\r\n Let r0 = ray.origin and d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\r\n * r0 + sd = p = b0v0 + b1v1 + b2v2\r\n * Subtract v0 from both ends, let u=v1-v0, v=v2-v0, c=r0-v0, and enforce b0+b1+b2=1:\r\n * b1u + b2v - sd = c\r\n This is a linear system Mx = c where M has columns u,v,d and solution x=(b1,b2,-s).\r\n /\r\n const r0 = ray.origin;\r\n const d = ray.direction;\r\n const u = BarycentricTriangle._workVector0 = Vector3d.createStartEnd(\r\n this.points[0], this.points[1], BarycentricTriangle._workVector0\r\n );\r\n const v = BarycentricTriangle._workVector1 = Vector3d.createStartEnd(\r\n this.points[0], this.points[2], BarycentricTriangle._workVector1\r\n );\r\n const M = BarycentricTriangle._workMatrix = Matrix3d.createColumns(u, v, d, BarycentricTriangle._workMatrix);\r\n const c = Vector3d.createStartEnd(this.points[0], r0, BarycentricTriangle._workVector0); // reuse workVector0\r\n const solution = BarycentricTriangle._workVector1; // reuse workVector1\r\n if (undefined === M.multiplyInverse(c, solution))\r\n return result; // invalid\r\n result.a = -solution.z; // = -(-s) = s\r\n ray.fractionToPoint(result.a, result.world);\r\n result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y); // = (1 - b1 - b2, b1, b2) = (b0 , b1, b2)\r\n const proj = this.closestPoint(result.local.x, result.local.y, result.local.z);\r\n result.closestEdgeIndex = proj.closestEdgeIndex;\r\n result.closestEdgeParam = proj.closestEdgeParam;\r\n return result;\r\n }\r\n /\r\n Compute the intersection of a line (parameterized as a line segment) with the plane of this triangle.\r\n * @param point0 start point of segment on line to intersect\r\n * @param point1 end point of segment on line to intersect\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the line-plane intersection point `d.world`:\r\n * * `d.isValid` returns true if and only if the line intersects the plane.\r\n * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n * * `d.a` is the intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the triangle.\r\n * @see [[intersectRay3d]]\r\n /\r\n public intersectSegment(point0: Point3d, point1: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n BarycentricTriangle._workRay = Ray3d.createStartEnd(point0, point1, BarycentricTriangle._workRay);\r\n return this.intersectRay3d(BarycentricTriangle._workRay, result);\r\n }\r\n /\r\n Adjust the location to the closest edge of the triangle if within either given tolerance.\r\n * @param location details of a point in the plane of the triangle (note that `location.local` and\r\n * `location.world` possibly updated to lie on the triangle closest edge)\r\n * @param distanceTolerance absolute distance tolerance (or zero to ignore)\r\n * @param parameterTolerance barycentric coordinate fractional tolerance (or zero to ignore)\r\n * @return whether the location was adjusted\r\n /\r\n public snapLocationToEdge(\r\n location: TriangleLocationDetail,\r\n distanceTolerance: number = Geometry.smallMetricDistance,\r\n parameterTolerance: number = Geometry.smallFloatingPoint\r\n ): boolean {\r\n if (!location.isValid)\r\n return false;\r\n // first try parametric tol to zero barycentric coordinate (no vertices or world distances used!)\r\n if (parameterTolerance > 0.0) {\r\n let numSnapped = 0;\r\n let newSum = 0.0;\r\n for (let i = 0; i < 3; i++) {\r\n const barycentricDist = Math.abs(location.local.at(i));\r\n if (barycentricDist > 0.0 && barycentricDist < parameterTolerance) {\r\n location.local.setAt(i, 0.0);\r\n numSnapped++;\r\n }\r\n newSum += location.local.at(i);\r\n }\r\n if (numSnapped > 0 && newSum > 0.0) {\r\n location.local.scaleInPlace(1.0 / newSum);\r\n if (1 === numSnapped) {\r\n location.closestEdgeIndex = BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(\r\n BarycentricTriangle.isOnBoundedEdge(location.local.x, location.local.y, location.local.z)\r\n );\r\n location.closestEdgeParam = 1.0 - location.local.at(location.closestEdgeIndex);\r\n } else { // 2 snapped, at vertex\r\n location.closestEdgeIndex = BarycentricTriangle.isOnVertex(\r\n location.local.x, location.local.y, location.local.z\r\n );\r\n location.closestEdgeParam = 0.0;\r\n }\r\n this.fractionToPoint(location.local.x, location.local.y, location.local.z, location.world);\r\n return true;\r\n }\r\n }\r\n // failing that, try distance tol to closest edge projection\r\n if (distanceTolerance > 0.0) {\r\n const i = location.closestEdgeIndex;\r\n const j = (i + 1) % 3;\r\n const k = (j + 1) % 3;\r\n const edgeProjection = BarycentricTriangle._workPoint = this.points[i].interpolate(\r\n location.closestEdgeParam, this.points[j], BarycentricTriangle._workPoint\r\n );\r\n const dist = location.world.distance(edgeProjection);\r\n if (dist > 0.0 && dist < distanceTolerance) {\r\n location.local.setAt(i, 1.0 - location.closestEdgeParam);\r\n location.local.setAt(j, location.closestEdgeParam);\r\n location.local.setAt(k, 0.0);\r\n location.world.setFrom(edgeProjection);\r\n return true;\r\n }\r\n }\r\n return false;\r\n }\r\n /\r\n Return the dot product of the scaled normals of the two triangles.\r\n * * The sign of the return value is useful for determining the triangles' relative orientation:\r\n * positive (negative) means the normals point into the same (opposite) half-space determined by\r\n * one of the triangles' planes; zero means the triangles are perpendicular.\r\n /\r\n public dotProductOfCrossProductsFromOrigin(other: BarycentricTriangle): number {\r\n BarycentricTriangle._workVector0 = this.points[0].crossProductToPoints(\r\n this.points[1], this.points[2], BarycentricTriangle._workVector0\r\n );\r\n BarycentricTriangle._workVector1 = other.points[0].crossProductToPoints(\r\n other.points[1], other.points[2], BarycentricTriangle._workVector1\r\n );\r\n return BarycentricTriangle._workVector0.dotProduct(BarycentricTriangle._workVector1);\r\n }\r\n /* Return the centroid of the 3 points. /\r\n public centroid(result?: Point3d): Point3d {\r\n // Do the scale as true division (rather than multiply by precomputed 1/3). This might protect one bit of result.\r\n return Point3d.create(\r\n (this.points[0].x + this.points[1].x + this.points[2].x) / 3.0,\r\n (this.points[0].y + this.points[1].y + this.points[2].y) / 3.0,\r\n (this.points[0].z + this.points[1].z + this.points[2].z) / 3.0,\r\n result\r\n );\r\n }\r\n /* Return the incenter of the triangle. /\r\n public incenter(result?: Point3d): Point3d {\r\n const a = this.edgeLength(0);\r\n const b = this.edgeLength(1);\r\n const c = this.edgeLength(2);\r\n const scale = Geometry.safeDivideFraction(1.0, a + b + c, 0.0);\r\n return this.fractionToPoint(scale a, scale * b, scale * c, result);\r\n }\r\n /** Return the circumcenter of the triangle. /\r\n public circumcenter(result?: Point3d): Point3d {\r\n const a2 = this.edgeLengthSquared(0);\r\n const b2 = this.edgeLengthSquared(1);\r\n const c2 = this.edgeLengthSquared(2);\r\n const x = a2 (b2 + c2 - a2);\r\n const y = b2 * (c2 + a2 - b2);\r\n const z = c2 * (a2 + b2 - c2);\r\n const scale = Geometry.safeDivideFraction(1.0, x + y + z, 0.0);\r\n return this.fractionToPoint(scale * x, scale * y, scale * z, result);\r\n }\r\n /** Test for point-by-point `isAlmostEqual` relationship. */\r\n public isAlmostEqual(other: BarycentricTriangle, tol?: number): boolean {\r\n return this.points[0].isAlmostEqual(other.points[0], tol)\r\n && this.points[1].isAlmostEqual(other.points[1], tol)\r\n && this.points[2].isAlmostEqual(other.points[2], tol);\r\n }\r\n}\r\n"]}
1	+ 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\n\r\nimport { assert } from \"@itwin/core-bentley\";\r\n\r\nimport { Geometry, PolygonLocation } from \"../Geometry\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Ray3d } from \"./Ray3d\";\r\nimport { Transform } from \"./Transform\";\r\n\r\n/\r\n Carries data about a location in the plane of a triangle.\r\n * * Each instance carries both world and barycentric coordinates for the point, and provides query\r\n * services on the latter.\r\n * * No tolerance is used when querying barycentric coordinates (e.g., `isInsideOrOn`, `classify`). Use\r\n * [[BarycentricTriangle.snapLocationToEdge]] to adjust the barycentric coordinates to a triangle edge\r\n * if they lie within a distance or parametric tolerance.\r\n \r\n Properties of the barycentric coordinates `(b0, b1, b2)` of a point `p` in the plane of a triangle\r\n * `T` with vertices `v0, v1, v2`:\r\n * * `1 = b0 + b1 + b2`\r\n * * `p = b0 * v0 + b1 * v1 + b2 * v2`\r\n * * If T is spanned by the vectors `U = v1 - v0` and `V = v2 - v0`, then the vector `P = p - v0` can\r\n * be written `P = b1 * U + b2 * V`.\r\n * * The coordinates are all nonnegative if and only if `p` is inside or on `T`.\r\n * * Exactly one coordinate is zero if and only if `p` lies on an (infinitely extended) edge of `T`.\r\n * * Exactly two coordinates are zero if and only if `p` coincides with a vertex of `T`.\r\n * * Note that if `p` can be written as a linear combination of the vertices of `T` using scales that do\r\n * NOT sum to 1, then `p` is not coplanar with `T`\r\n * @public\r\n /\r\nexport class TriangleLocationDetail {\r\n /* The Cartesian coordinates of the point p. /\r\n public world: Point3d;\r\n /* The barycentric coordinates of p with respect to the triangle. Assumed to sum to one. /\r\n public local: Point3d;\r\n /* Application-specific number /\r\n public a: number;\r\n /* Index of the triangle vertex at the start of the closest edge to p. /\r\n public closestEdgeIndex: number;\r\n /\r\n The parameter f along the closest edge to p of its projection q.\r\n * * We have q = v_i + f * (v_j - v_i) where i = closestEdgeIndex and j = (i + 1) % 3 are the indices\r\n * of the start vertex v_i and end vertex v_j of the closest edge to p.\r\n * * Note that 0 <= f <= 1.\r\n /\r\n public closestEdgeParam: number;\r\n\r\n private constructor() {\r\n this.world = new Point3d();\r\n this.local = new Point3d();\r\n this.a = 0.0;\r\n this.closestEdgeIndex = 0;\r\n this.closestEdgeParam = 0.0;\r\n }\r\n /* Invalidate this detail (set all attributes to zero) . /\r\n public invalidate() {\r\n this.world.setZero();\r\n this.local.setZero();\r\n this.a = 0.0;\r\n this.closestEdgeIndex = 0;\r\n this.closestEdgeParam = 0.0;\r\n }\r\n /\r\n Create an invalid detail.\r\n * @param result optional pre-allocated object to fill and return\r\n /\r\n public static create(result?: TriangleLocationDetail): TriangleLocationDetail {\r\n if (undefined === result)\r\n result = new TriangleLocationDetail();\r\n else\r\n result.invalidate();\r\n return result;\r\n }\r\n /\r\n Set the instance contents from the `other` detail.\r\n * @param other detail to clone\r\n /\r\n public copyContentsFrom(other: TriangleLocationDetail) {\r\n this.world.setFrom(other.world);\r\n this.local.setFrom(other.local);\r\n this.a = other.a;\r\n this.closestEdgeIndex = other.closestEdgeIndex;\r\n this.closestEdgeParam = other.closestEdgeParam;\r\n }\r\n /* Whether this detail is invalid. /\r\n public get isValid(): boolean {\r\n return !this.local.isZero;\r\n }\r\n /\r\n Queries the barycentric coordinates to determine whether this instance specifies a location inside or\r\n * on the triangle.\r\n * @see classify\r\n /\r\n public get isInsideOrOn(): boolean {\r\n return this.isValid && this.local.x >= 0.0 && this.local.y >= 0.0 && this.local.z >= 0.0;\r\n }\r\n /\r\n Queries this detail to classify the location of this instance with respect to the triangle.\r\n * @returns location code\r\n * @see isInsideOrOn\r\n /\r\n public get classify(): PolygonLocation {\r\n if (!this.isValid)\r\n return PolygonLocation.Unknown;\r\n if (this.isInsideOrOn) {\r\n let numZero = 0;\r\n if (Math.abs(this.local.x) === 0.0)\r\n ++numZero;\r\n if (Math.abs(this.local.y) === 0.0)\r\n ++numZero;\r\n if (Math.abs(this.local.z) === 0.0)\r\n ++numZero;\r\n if (2 === numZero)\r\n return PolygonLocation.OnPolygonVertex;\r\n if (1 === numZero)\r\n return PolygonLocation.OnPolygonEdgeInterior;\r\n return PolygonLocation.InsidePolygonProjectsToEdgeInterior;\r\n }\r\n return (this.closestEdgeParam === 0.0) ?\r\n PolygonLocation.OutsidePolygonProjectsToVertex :\r\n PolygonLocation.OutsidePolygonProjectsToEdgeInterior;\r\n }\r\n}\r\n\r\n/\r\n 3 points defining a triangle to be evaluated with barycentric coordinates.\r\n * @public\r\n /\r\nexport class BarycentricTriangle {\r\n /* Array of 3 point coordinates for the triangle. /\r\n public points: Point3d[];\r\n /* Edge length squared cache, indexed by opposite vertex index /\r\n protected edgeLength2: number[];\r\n // private attributes\r\n private static _workPoint?: Point3d;\r\n private static _workVector0?: Vector3d;\r\n private static _workVector1?: Vector3d;\r\n private static _workRay?: Ray3d;\r\n private static _workMatrix?: Matrix3d;\r\n /\r\n Constructor.\r\n * * Point references are CAPTURED\r\n /\r\n protected constructor(point0: Point3d, point1: Point3d, point2: Point3d) {\r\n this.points = [];\r\n this.points.push(point0);\r\n this.points.push(point1);\r\n this.points.push(point2);\r\n this.edgeLength2 = [];\r\n this.edgeLength2.push(point1.distanceSquared(point2));\r\n this.edgeLength2.push(point0.distanceSquared(point2));\r\n this.edgeLength2.push(point0.distanceSquared(point1));\r\n }\r\n /\r\n Copy contents of (not pointers to) the given points. A vertex is zeroed if its corresponding input point\r\n * is undefined.\r\n /\r\n public set(point0: Point3d \| undefined, point1: Point3d \| undefined, point2: Point3d \| undefined) {\r\n this.points[0].setFromPoint3d(point0);\r\n this.points[1].setFromPoint3d(point1);\r\n this.points[2].setFromPoint3d(point2);\r\n this.edgeLength2[0] = this.points[1].distanceSquared(this.points[2]);\r\n this.edgeLength2[1] = this.points[0].distanceSquared(this.points[2]);\r\n this.edgeLength2[2] = this.points[0].distanceSquared(this.points[1]);\r\n }\r\n /* Copy all values from `other` /\r\n public setFrom(other: BarycentricTriangle) {\r\n for (let i = 0; i < 3; ++i) {\r\n this.points[i].setFromPoint3d(other.points[i]);\r\n this.edgeLength2[i] = other.edgeLength2[i];\r\n }\r\n }\r\n /\r\n Create a `BarycentricTriangle` with coordinates given by enumerated x,y,z of the 3 points.\r\n * @param result optional pre-allocated triangle.\r\n /\r\n public static createXYZXYZXYZ(\r\n x0: number, y0: number, z0: number,\r\n x1: number, y1: number, z1: number,\r\n x2: number, y2: number, z2: number,\r\n result?: BarycentricTriangle\r\n ): BarycentricTriangle {\r\n if (!result)\r\n return new this(Point3d.create(x0, y0, z0), Point3d.create(x1, y1, z1), Point3d.create(x2, y2, z2));\r\n result.points[0].set(x0, y0, z0);\r\n result.points[1].set(x1, y1, z1);\r\n result.points[2].set(x2, y2, z2);\r\n return result;\r\n }\r\n /* Create a triangle with coordinates cloned from given points. /\r\n public static create(\r\n point0: Point3d, point1: Point3d, point2: Point3d, result?: BarycentricTriangle\r\n ): BarycentricTriangle {\r\n if (!result)\r\n return new this(point0.clone(), point1.clone(), point2.clone());\r\n result.set(point0, point1, point2);\r\n return result;\r\n }\r\n /* Return a new `BarycentricTriangle` with the same coordinates. /\r\n public clone(result?: BarycentricTriangle): BarycentricTriangle {\r\n return BarycentricTriangle.create(this.points[0], this.points[1], this.points[2], result);\r\n }\r\n /* Return a clone of the transformed instance /\r\n public cloneTransformed(transform: Transform, result?: BarycentricTriangle): BarycentricTriangle {\r\n return BarycentricTriangle.create(\r\n transform.multiplyPoint3d(this.points[0], result?.points[0]),\r\n transform.multiplyPoint3d(this.points[1], result?.points[1]),\r\n transform.multiplyPoint3d(this.points[2], result?.points[2]),\r\n result\r\n );\r\n }\r\n /* Return the area of the triangle. /\r\n public get area(): number {\r\n // The magnitude of the cross product A × B is the area of the parallelogram spanned by A and B.\r\n return 0.5 this.points[0].crossProductToPointsMagnitude(this.points[1], this.points[2]);\r\n }\r\n /*\r\n Compute squared length of the triangle edge opposite the vertex with the given index.\r\n * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n /\r\n public edgeLengthSquared(oppositeVertexIndex: number): number {\r\n return this.edgeLength2[Geometry.cyclic3dAxis(oppositeVertexIndex)];\r\n }\r\n /\r\n Compute length of the triangle edge opposite the vertex with the given index.\r\n * @see [[edgeStartVertexIndexToOppositeVertexIndex]]\r\n /\r\n public edgeLength(oppositeVertexIndex: number): number {\r\n return Math.sqrt(this.edgeLengthSquared(oppositeVertexIndex));\r\n }\r\n /* Return area divided by sum of squared lengths. /\r\n public get aspectRatio(): number {\r\n return Geometry.safeDivideFraction(\r\n this.area, this.edgeLengthSquared(0) + this.edgeLengthSquared(1) + this.edgeLengthSquared(2), 0\r\n );\r\n }\r\n /* Return the perimeter of the triangle. /\r\n public get perimeter(): number {\r\n return this.edgeLength(0) + this.edgeLength(1) + this.edgeLength(2);\r\n }\r\n /\r\n Return the unit normal of the triangle.\r\n * @param result optional pre-allocated vector to fill and return.\r\n * @returns unit normal, or undefined if cross product length is too small.\r\n /\r\n public normal(result?: Vector3d): Vector3d \| undefined {\r\n const cross = this.points[0].crossProductToPoints(this.points[1], this.points[2], result);\r\n if (cross.tryNormalizeInPlace())\r\n return cross;\r\n return undefined;\r\n }\r\n /\r\n Sum the triangle points with given scales.\r\n * * If the scales sum to 1, they are barycentric coordinates, and hence the result point is in the plane of\r\n * the triangle. If all coordinates are non-negative then the result point is inside the triangle.\r\n * * If the scales do not sum to 1, the point is inside the triangle scaled (by the scale sum) from the origin.\r\n * @param b0 scale to apply to vertex 0\r\n * @param b1 scale to apply to vertex 1\r\n * @param b2 scale to apply to vertex 2\r\n * @param result optional pre-allocated point to fill and return\r\n * @return linear combination of the vertices of this triangle\r\n * @see [[pointToFraction]]\r\n /\r\n public fractionToPoint(b0: number, b1: number, b2: number, result?: Point3d): Point3d {\r\n // p = b0 v0 + b1 * v1 + b2 * v2\r\n return Point3d.createAdd3Scaled(this.points[0], b0, this.points[1], b1, this.points[2], b2, result);\r\n }\r\n /*\r\n Compute the projection of the given `point` onto the plane of this triangle.\r\n * @param point point p to project\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the projection point `P = d.world`:\r\n * * `d.isValid` returns true if and only if `this.normal()` is defined.\r\n * * `d.classify` can be used to determine where P lies with respect to the triangle.\r\n * * `d.a` is the signed projection distance: `P = p + a * this.normal()`.\r\n * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/BarycentricTriangle\r\n * @see [[fractionToPoint]]\r\n /\r\n public pointToFraction(point: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n const normal = BarycentricTriangle._workVector0 = this.normal(BarycentricTriangle._workVector0);\r\n if (undefined === normal)\r\n return TriangleLocationDetail.create(result);\r\n const ray = BarycentricTriangle._workRay = Ray3d.create(point, normal, BarycentricTriangle._workRay);\r\n return this.intersectRay3d(ray, result); // intersectRay3d is free to use workVector0\r\n }\r\n /* Convert from opposite-vertex to start-vertex edge indexing. /\r\n public static edgeOppositeVertexIndexToStartVertexIndex(edgeIndex: number): number {\r\n return Geometry.cyclic3dAxis(edgeIndex + 1);\r\n }\r\n /* Convert from start-vertex to opposite-vertex edge indexing. /\r\n public static edgeStartVertexIndexToOppositeVertexIndex(startVertexIndex: number): number {\r\n return Geometry.cyclic3dAxis(startVertexIndex - 1);\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies inside the triangle but not on an edge/vertex.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns whether the point with barycentric coordinates is strictly inside the triangle.\r\n /\r\n public static isInsideTriangle(b0: number, b1: number, b2: number): boolean {\r\n return b0 > 0 && b1 > 0 && b2 > 0;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies inside the triangle or on an edge/vertex.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns whether the point with barycentric coordinates is inside or on the triangle.\r\n /\r\n public static isInsideOrOnTriangle(b0: number, b1: number, b2: number): boolean {\r\n return b0 >= 0 && b1 >= 0 && b2 >= 0;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies outside an edge of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns edge index i (opposite vertex i) for which b_i < 0 and b_j >= 0, and b_k >= 0. Otherwise, returns -1.\r\n /\r\n private static isInRegionBeyondEdge(b0: number, b1: number, b2: number): number {\r\n // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n // edges to infinity and not by perpendicular lines to the edges (which gives smaller regions)\r\n if (b0 < 0 && b1 >= 0 && b2 >= 0)\r\n return 0;\r\n if (b0 >= 0 && b1 < 0 && b2 >= 0)\r\n return 1;\r\n if (b0 >= 0 && b1 >= 0 && b2 < 0)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies outside a vertex of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex i for which b_j < 0 and b_k < 0. Otherwise, returns -1.\r\n /\r\n private static isInRegionBeyondVertex(b0: number, b1: number, b2: number): number {\r\n // Note: the 3 regions (specified by the following if statements) are defined by extending the triangle\r\n // edges to infinity and not by perpendicular lines to the edges (which gives larger regions)\r\n if (b1 < 0 && b2 < 0)\r\n return 0;\r\n if (b0 < 0 && b2 < 0)\r\n return 1;\r\n if (b0 < 0 && b1 < 0)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies on a vertex of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns index of vertex i for which b_i = 1 and b_j = b_k = 0. Otherwise, returns -1.\r\n /\r\n private static isOnVertex(b0: number, b1: number, b2: number): number {\r\n if (b0 === 1 && b1 === 0 && b2 === 0)\r\n return 0;\r\n if (b0 === 0 && b1 === 1 && b2 === 0)\r\n return 1;\r\n if (b0 === 0 && b1 === 0 && b2 === 1)\r\n return 2;\r\n return -1;\r\n }\r\n /\r\n Examine a point's barycentric coordinates to determine if it lies on a bounded edge of the triangle.\r\n * * No parametric tolerance is used.\r\n * * It is assumed b0 + b1 + b2 = 1.\r\n * @returns edge index i (opposite vertex i) for which b_i = 0, b_j > 0, and b_k > 0. Otherwise, returns -1.\r\n /\r\n private static isOnBoundedEdge(b0: number, b1: number, b2: number): number {\r\n if (b0 === 0 && b1 > 0 && b2 > 0)\r\n return 0;\r\n if (b0 > 0 && b1 === 0 && b2 > 0)\r\n return 1;\r\n if (b0 > 0 && b1 > 0 && b2 === 0)\r\n return 2;\r\n return -1;\r\n }\r\n /* @returns edge/vertex index (0,1,2) for which the function has a minimum value /\r\n private static indexOfMinimum(fn: (index: number) => number): number {\r\n let i = 0;\r\n let min = fn(0);\r\n const val = fn(1);\r\n if (min > val) {\r\n i = 1;\r\n min = val;\r\n }\r\n if (min > fn(2))\r\n i = 2;\r\n return i;\r\n }\r\n /\r\n Compute the squared distance between two points given by their barycentric coordinates.\r\n * * It is assumed that a0 + a1 + a2 = b0 + b1 + b2 = 1.\r\n /\r\n public distanceSquared(a0: number, a1: number, a2: number, b0: number, b1: number, b2: number): number {\r\n // The barycentric displacement vector distance formula\r\n // More details can be found at https://web.evanchen.cc/handouts/bary/bary-full.pdf\r\n return -this.edgeLengthSquared(0) (b1 - a1) * (b2 - a2)\r\n - this.edgeLengthSquared(1) * (b2 - a2) * (b0 - a0)\r\n - this.edgeLengthSquared(2) * (b0 - a0) * (b1 - a1);\r\n }\r\n /** Return the index of the closest triangle vertex to the point given by its barycentric coordinates. /\r\n public closestVertexIndex(b0: number, b1: number, b2: number): number {\r\n return BarycentricTriangle.indexOfMinimum((i: number) => {\r\n const a = BarycentricTriangle._workPoint = Point3d.createZero(BarycentricTriangle._workPoint);\r\n a.setAt(i, 1.0); // \"a\" is (1,0,0) or (0,1,0) or (0,0,1) so \"a\" represents vertex i\r\n return this.distanceSquared(a.x, a.y, a.z, b0, b1, b2); // distance between the point and vertex i\r\n });\r\n }\r\n /* Compute dot product of the edge vectors based at the vertex with the given index. /\r\n public dotProductOfEdgeVectorsAtVertex(baseVertexIndex: number): number {\r\n const i = Geometry.cyclic3dAxis(baseVertexIndex);\r\n const j = Geometry.cyclic3dAxis(i + 1);\r\n const k = Geometry.cyclic3dAxis(j + 1);\r\n return Geometry.dotProductXYZXYZ(\r\n this.points[j].x - this.points[i].x, this.points[j].y - this.points[i].y, this.points[j].z - this.points[i].z,\r\n this.points[k].x - this.points[i].x, this.points[k].y - this.points[i].y, this.points[k].z - this.points[i].z\r\n );\r\n }\r\n /\r\n Compute the projection of barycentric point p onto the (unbounded) edge e_k(v_i,v_j) of the triangle T(v_i,v_j,v_k).\r\n * @param k vertex v_k is opposite the edge e_k\r\n * @param b barycentric coordinates of point to project\r\n * @returns parameter f along e_k, such that:\r\n * * the projection point is q = v_i + f * (v_j - v_i)\r\n * * the barycentric coords of the projection are q_ijk = (1 - f, f, 0)\r\n /\r\n private computeProjectionToEdge(k: number, b: number[]): number {\r\n /\r\n We know p = (b_iv_i) + (b_jv_j) + (b_kv_k) and 1 = b_i + b_j + b_k.\r\n Let U = v_j - v_i and V = v_k - v_i and P = p - v_i.\r\n * First we prove P = b_jU + b_kV.\r\n * P = (b_i * v_i) + (b_j * v_j) + (b_k * v_k) - v_i\r\n * = (b_i * v_i) + (b_j * (v_j-v_i)) + (b_j * v_i) + (b_k * (v_k-v_i)) + (b_k * v_i) - v_i\r\n * = (b_i * v_i) + (b_j * U) + (b_j * v_i) + (b_k * V) + (b_k * v_i) - v_i\r\n * = (b_j * U) + (b_k * V) + ((b_i + b_j + b_k) * v_i) - v_i\r\n * = (b_j * U) + (b_k * V) + v_i - v_i\r\n * = (b_j * U) + (b_k * V)\r\n * So we know p - v_i = b_jU + b_kV and q - v_i = fU\r\n * Therefore, 0 = (p - q).(v_j - v_i)\r\n * = ((p-v_i) - (q-v_i)).(v_j - v_i)\r\n * = (b_jU + b_kV - fU).U\r\n * = b_jU.U + b_kU.V - fU.U\r\n * Thus f = b_j + b_k(U.V/U.U)\r\n /\r\n k = Geometry.cyclic3dAxis(k);\r\n const i = Geometry.cyclic3dAxis(k + 1);\r\n const j = Geometry.cyclic3dAxis(i + 1);\r\n return b[j] + b[k] this.dotProductOfEdgeVectorsAtVertex(i) / this.edgeLengthSquared(k);\r\n }\r\n /*\r\n Compute the projection of a barycentric point p to the triangle T(v_0,v_1,v_2).\r\n * @param b0 barycentric coordinate of p corresponding to v_0\r\n * @param b1 barycentric coordinate of p corresponding to v_1\r\n * @param b2 barycentric coordinate of p corresponding to v_2\r\n * @returns closest edge start vertex index i and projection parameter f such that the projection\r\n * q = v_i + f * (v_j - v_i).\r\n /\r\n public closestPoint(b0: number, b1: number, b2: number): { closestEdgeIndex: number, closestEdgeParam: number } {\r\n const b: number[] = [b0, b1, b2];\r\n let edgeIndex = -1; // opposite-vertex index\r\n let edgeParam = 0.0;\r\n if (BarycentricTriangle.isInsideTriangle(b0, b1, b2)) { // projects to any edge\r\n edgeIndex = BarycentricTriangle.indexOfMinimum((i: number) => {\r\n // We want smallest projection distance d_i of p to e_i.\r\n // Since b_i=d_i\|e_i\|/2A we can compare quantities b_i/\|e_i\|.\r\n return b[i] b[i] / this.edgeLengthSquared(i); // avoid sqrt\r\n });\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondVertex(b0, b1, b2)) >= 0) { // projects to other edges, or any vertex\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0 \|\| edgeParam > 1) {\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1);\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0 \|\| edgeParam > 1) {\r\n edgeParam = 0.0;\r\n edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(this.closestVertexIndex(b0, b1, b2));\r\n }\r\n }\r\n } else if ((edgeIndex = BarycentricTriangle.isInRegionBeyondEdge(b0, b1, b2)) >= 0) { // projects to the edge or its vertices\r\n edgeParam = this.computeProjectionToEdge(edgeIndex, b);\r\n if (edgeParam < 0) {\r\n edgeParam = 0.0; // start of this edge\r\n } else if (edgeParam > 1) {\r\n edgeParam = 0.0;\r\n edgeIndex = Geometry.cyclic3dAxis(edgeIndex + 1); // end of this edge = start of next edge\r\n }\r\n } else if ((edgeIndex = BarycentricTriangle.isOnBoundedEdge(b0, b1, b2)) >= 0) {\r\n edgeParam = 1 - b[BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex)];\r\n } else if ((edgeIndex = BarycentricTriangle.isOnVertex(b0, b1, b2)) >= 0) {\r\n edgeParam = 0.0;\r\n edgeIndex = BarycentricTriangle.edgeStartVertexIndexToOppositeVertexIndex(edgeIndex);\r\n }\r\n // invalid edgeIndex shouldn't happen, but propagate it anyway\r\n assert(edgeIndex === 0 \|\| edgeIndex === 1 \|\| edgeIndex === 2);\r\n return {\r\n closestEdgeIndex: (edgeIndex < 0) ? -1 : BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(edgeIndex),\r\n closestEdgeParam: edgeParam,\r\n };\r\n }\r\n /*\r\n Compute the intersection of a line (parameterized as a ray) with the plane of this triangle.\r\n * @param ray infinite line to intersect, as a ray\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the line-plane intersection point `d.world`:\r\n * * `d.a` is the intersection parameter along the ray.\r\n * * The line intersects the plane of the triangle if and only if `d.isValid` returns true.\r\n * * The ray intersects the plane of the triangle if and only if `d.isValid` returns true and `d.a` >= 0.\r\n * * The ray intersects the triangle if and only if `d.isValid` returns true, `d.a` >= 0, and `d.isInsideOrOn`\r\n * returns true.\r\n * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/RayTriangleIntersection\r\n * @see [[pointToFraction]]\r\n /\r\n public intersectRay3d(ray: Ray3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n result = TriangleLocationDetail.create(result);\r\n /\r\n Let r0 = ray.origin and d = ray.direction. Write intersection point p two ways for unknown scalars s,b0,b1,b2:\r\n * r0 + sd = p = b0v0 + b1v1 + b2v2\r\n * Subtract v0 from both ends, let u=v1-v0, v=v2-v0, c=r0-v0, and enforce b0+b1+b2=1:\r\n * b1u + b2v - sd = c\r\n This is a linear system Mx = c where M has columns u,v,d and solution x=(b1,b2,-s).\r\n /\r\n const r0 = ray.origin;\r\n const d = ray.direction;\r\n const u = BarycentricTriangle._workVector0 = Vector3d.createStartEnd(\r\n this.points[0], this.points[1], BarycentricTriangle._workVector0\r\n );\r\n const v = BarycentricTriangle._workVector1 = Vector3d.createStartEnd(\r\n this.points[0], this.points[2], BarycentricTriangle._workVector1\r\n );\r\n const M = BarycentricTriangle._workMatrix = Matrix3d.createColumns(u, v, d, BarycentricTriangle._workMatrix);\r\n const c = Vector3d.createStartEnd(this.points[0], r0, BarycentricTriangle._workVector0); // reuse workVector0\r\n const solution = BarycentricTriangle._workVector1; // reuse workVector1\r\n if (undefined === M.multiplyInverse(c, solution))\r\n return result; // invalid\r\n result.a = -solution.z; // = -(-s) = s\r\n ray.fractionToPoint(result.a, result.world);\r\n result.local.set(1.0 - solution.x - solution.y, solution.x, solution.y); // = (1 - b1 - b2, b1, b2) = (b0 , b1, b2)\r\n const proj = this.closestPoint(result.local.x, result.local.y, result.local.z);\r\n result.closestEdgeIndex = proj.closestEdgeIndex;\r\n result.closestEdgeParam = proj.closestEdgeParam;\r\n return result;\r\n }\r\n /\r\n Compute the intersection of a line (parameterized as a line segment) with the plane of this triangle.\r\n * @param point0 start point of segment on line to intersect\r\n * @param point1 end point of segment on line to intersect\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns details d of the line-plane intersection point `d.world`:\r\n * * `d.isValid` returns true if and only if the line intersects the plane.\r\n * * `d.classify` can be used to determine where the intersection lies with respect to the triangle.\r\n * * `d.a` is the intersection parameter. If `d.a` is in [0,1], the segment intersects the plane of the triangle.\r\n * @see [[intersectRay3d]]\r\n /\r\n public intersectSegment(point0: Point3d, point1: Point3d, result?: TriangleLocationDetail): TriangleLocationDetail {\r\n BarycentricTriangle._workRay = Ray3d.createStartEnd(point0, point1, BarycentricTriangle._workRay);\r\n return this.intersectRay3d(BarycentricTriangle._workRay, result);\r\n }\r\n /\r\n Adjust the location to the closest edge of the triangle if within either given tolerance.\r\n * @param location details of a point in the plane of the triangle (note that `location.local` and\r\n * `location.world` possibly updated to lie on the triangle closest edge)\r\n * @param distanceTolerance absolute distance tolerance (or zero to ignore)\r\n * @param parameterTolerance barycentric coordinate fractional tolerance (or zero to ignore)\r\n * @return whether the location was adjusted\r\n /\r\n public snapLocationToEdge(\r\n location: TriangleLocationDetail,\r\n distanceTolerance: number = Geometry.smallMetricDistance,\r\n parameterTolerance: number = Geometry.smallFloatingPoint\r\n ): boolean {\r\n if (!location.isValid)\r\n return false;\r\n // first try parametric tol to zero barycentric coordinate (no vertices or world distances used!)\r\n if (parameterTolerance > 0.0) {\r\n let numSnapped = 0;\r\n let newSum = 0.0;\r\n for (let i = 0; i < 3; i++) {\r\n const barycentricDist = Math.abs(location.local.at(i));\r\n if (barycentricDist > 0.0 && barycentricDist < parameterTolerance) {\r\n location.local.setAt(i, 0.0);\r\n numSnapped++;\r\n }\r\n newSum += location.local.at(i);\r\n }\r\n if (numSnapped > 0 && newSum > 0.0) {\r\n location.local.scaleInPlace(1.0 / newSum);\r\n if (1 === numSnapped) {\r\n location.closestEdgeIndex = BarycentricTriangle.edgeOppositeVertexIndexToStartVertexIndex(\r\n BarycentricTriangle.isOnBoundedEdge(location.local.x, location.local.y, location.local.z)\r\n );\r\n location.closestEdgeParam = 1.0 - location.local.at(location.closestEdgeIndex);\r\n } else { // 2 snapped, at vertex\r\n location.closestEdgeIndex = BarycentricTriangle.isOnVertex(\r\n location.local.x, location.local.y, location.local.z\r\n );\r\n location.closestEdgeParam = 0.0;\r\n }\r\n this.fractionToPoint(location.local.x, location.local.y, location.local.z, location.world);\r\n return true;\r\n }\r\n }\r\n // failing that, try distance tol to closest edge projection\r\n if (distanceTolerance > 0.0) {\r\n const i = location.closestEdgeIndex;\r\n const j = (i + 1) % 3;\r\n const k = (j + 1) % 3;\r\n const edgeProjection = BarycentricTriangle._workPoint = this.points[i].interpolate(\r\n location.closestEdgeParam, this.points[j], BarycentricTriangle._workPoint\r\n );\r\n const dist = location.world.distance(edgeProjection);\r\n if (dist > 0.0 && dist < distanceTolerance) {\r\n location.local.setAt(i, 1.0 - location.closestEdgeParam);\r\n location.local.setAt(j, location.closestEdgeParam);\r\n location.local.setAt(k, 0.0);\r\n location.world.setFrom(edgeProjection);\r\n return true;\r\n }\r\n }\r\n return false;\r\n }\r\n /\r\n Return the dot product of the scaled normals of the two triangles.\r\n * * The sign of the return value is useful for determining the triangles' relative orientation:\r\n * positive (negative) means the normals point into the same (opposite) half-space determined by\r\n * one of the triangles' planes; zero means the triangles are perpendicular.\r\n /\r\n public dotProductOfCrossProductsFromOrigin(other: BarycentricTriangle): number {\r\n BarycentricTriangle._workVector0 = this.points[0].crossProductToPoints(\r\n this.points[1], this.points[2], BarycentricTriangle._workVector0\r\n );\r\n BarycentricTriangle._workVector1 = other.points[0].crossProductToPoints(\r\n other.points[1], other.points[2], BarycentricTriangle._workVector1\r\n );\r\n return BarycentricTriangle._workVector0.dotProduct(BarycentricTriangle._workVector1);\r\n }\r\n /* Return the centroid of the 3 points. /\r\n public centroid(result?: Point3d): Point3d {\r\n // Do the scale as true division (rather than multiply by precomputed 1/3). This might protect one bit of result.\r\n return Point3d.create(\r\n (this.points[0].x + this.points[1].x + this.points[2].x) / 3.0,\r\n (this.points[0].y + this.points[1].y + this.points[2].y) / 3.0,\r\n (this.points[0].z + this.points[1].z + this.points[2].z) / 3.0,\r\n result\r\n );\r\n }\r\n /* Return the incenter of the triangle. /\r\n public incenter(result?: Point3d): Point3d {\r\n const a = this.edgeLength(0);\r\n const b = this.edgeLength(1);\r\n const c = this.edgeLength(2);\r\n const scale = Geometry.safeDivideFraction(1.0, a + b + c, 0.0);\r\n return this.fractionToPoint(scale a, scale * b, scale * c, result);\r\n }\r\n /** Return the circumcenter of the triangle. /\r\n public circumcenter(result?: Point3d): Point3d {\r\n const a2 = this.edgeLengthSquared(0);\r\n const b2 = this.edgeLengthSquared(1);\r\n const c2 = this.edgeLengthSquared(2);\r\n const x = a2 (b2 + c2 - a2);\r\n const y = b2 * (c2 + a2 - b2);\r\n const z = c2 * (a2 + b2 - c2);\r\n const scale = Geometry.safeDivideFraction(1.0, x + y + z, 0.0);\r\n return this.fractionToPoint(scale * x, scale * y, scale * z, result);\r\n }\r\n /** Test for point-by-point `isAlmostEqual` relationship. */\r\n public isAlmostEqual(other: BarycentricTriangle, tol?: number): boolean {\r\n return this.points[0].isAlmostEqual(other.points[0], tol)\r\n && this.points[1].isAlmostEqual(other.points[1], tol)\r\n && this.points[2].isAlmostEqual(other.points[2], tol);\r\n }\r\n}\r\n"]}

package/lib/esm/geometry3d/Ray3d.d.ts CHANGED Viewed

@@ -44,7 +44,13 @@ export declare class Ray3d implements BeJSONFunctions {
      * directions to be scaled or opposing.
      */
     isAlmostEqual(other: Ray3d): boolean;
-    /** Return the dot product of the ray's direction vector with a vector from the ray origin to the `spacePoint`. */
+    /**
+     * Return the dot product of the ray's direction vector with a vector from the ray origin
+     * to the `spacePoint`.
+     * * If the instance is the unit normal of a plane, then this method returns the (signed) altitude
+     * of `spacePoint` with respect to the plane.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ProjectVectorOnPlane
+     */
     dotProductToPoint(spacePoint: Point3d): number;
     /** Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. */
     pointToFraction(spacePoint: Point3d): number;

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package/lib/esm/geometry3d/Ray3d.js CHANGED Viewed

@@ -61,7 +61,13 @@ export class Ray3d {
     isAlmostEqual(other) {
         return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);
     }
-    /** Return the dot product of the ray's direction vector with a vector from the ray origin to the `spacePoint`. */
+    /**
+     * Return the dot product of the ray's direction vector with a vector from the ray origin
+     * to the `spacePoint`.
+     * * If the instance is the unit normal of a plane, then this method returns the (signed) altitude
+     * of `spacePoint` with respect to the plane.
+     * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ProjectVectorOnPlane
+     */
     dotProductToPoint(spacePoint) {
         return this.direction.dotProductStartEnd(this.origin, spacePoint);
     }

package/lib/esm/geometry3d/Ray3d.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\n\r\n// cspell:word Cramer\r\n/\r\n A Ray3d contains\r\n * * an `origin` point.\r\n * * a `direction` vector (The vector is not required to be normalized).\r\n * * an optional weight (number).\r\n * @public\r\n /\r\nexport class Ray3d implements BeJSONFunctions {\r\n /* The ray origin /\r\n public origin: Point3d;\r\n /* The ray direction. This is commonly (but not always) a unit vector. /\r\n public direction: Vector3d;\r\n /* Numeric annotation. /\r\n public a?: number; // optional (e.g. weight)\r\n private static _workVector0?: Vector3d;\r\n private static _workVector1?: Vector3d;\r\n private static _workVector2?: Vector3d;\r\n private static _workVector3?: Vector3d;\r\n private static _workVector4?: Vector3d;\r\n // constructor (captures references)\r\n private constructor(origin: Point3d, direction: Vector3d) {\r\n this.origin = origin;\r\n this.direction = direction;\r\n this.a = undefined;\r\n }\r\n private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n }\r\n /* Create a ray on the x axis. /\r\n public static createXAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 1, 0, 0);\r\n }\r\n /* Create a ray on the y axis. /\r\n public static createYAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 0, 1, 0);\r\n }\r\n /* Create a ray on the z axis. /\r\n public static createZAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 0, 0, 1);\r\n }\r\n /* Create a ray with all zeros. /\r\n public static createZero(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setZero();\r\n result.direction.setZero();\r\n return result;\r\n }\r\n return new Ray3d(Point3d.createZero(), Vector3d.createZero());\r\n }\r\n /\r\n Test for nearly equal Ray3d objects.\r\n * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.\r\n * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the\r\n * directions to be scaled or opposing.\r\n /\r\n public isAlmostEqual(other: Ray3d): boolean {\r\n return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);\r\n }\r\n /* Return the dot product of the ray's direction vector with a vector from the ray origin to the `spacePoint`. /\r\n public dotProductToPoint(spacePoint: Point3d): number {\r\n return this.direction.dotProductStartEnd(this.origin, spacePoint);\r\n }\r\n /* Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. /\r\n public pointToFraction(spacePoint: Point3d): number {\r\n return Geometry.safeDivideFraction(\r\n this.dotProductToPoint(spacePoint),\r\n this.direction.magnitudeSquared(),\r\n 0\r\n );\r\n }\r\n /* Return the `spacePoint` projected onto the ray. /\r\n public projectPointToRay(spacePoint: Point3d): Point3d {\r\n /\r\n To project a point to the ray, we can create a vector called \"v\" from ray origin to the spacePoint and project\r\n * that vector to the ray direction vector \"r\". The projection is \"((v.r)/\|\|r\|\|^2) r\" where \"v.r\" is the dot\r\n * product. Note that pointToFraction returns \"(v.r)/\|\|r\|\|^2\".\r\n * Note: If r is the normal of a plane, then projection length \"(v.r)/\|\|r\|\|\" is the signed altitude of the\r\n * spacePoint with respect to the plane.\r\n /\r\n return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\r\n }\r\n /\r\n Test for nearly equal rays, allowing origin float and direction scaling.\r\n * * Use [[isAlmostEqual]] to require member-by-member comparison.\r\n /\r\n public isAlmostEqualPointSet(other: Ray3d): boolean {\r\n /\r\n This function tests two rays to determine if they define the same infinite lines.\r\n * So the origins can be different as long as they are on the infinite line (they can\r\n * \"float\") but the directions must be parallel or antiparallel.\r\n /\r\n if (!this.direction.isParallelTo(other.direction, true))\r\n return false;\r\n /\r\n In exact math, we consider a ray to have an infinite line as direction (not a finite vector).\r\n * Therefore, in exact math it is not possible for one origin to be on the other ray but not vice\r\n * versa. However, we test both ways because first check may pass due to round-off errors.\r\n /\r\n let workPoint = this.projectPointToRay(other.origin);\r\n if (!other.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n workPoint = other.projectPointToRay(this.origin);\r\n if (!this.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n return true;\r\n }\r\n /* Create a ray from origin and direction. /\r\n public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(origin, direction);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), direction.clone());\r\n }\r\n /\r\n Given a homogeneous point and its derivative components, construct a Ray3d with cartesian\r\n * coordinates and derivatives.\r\n * @param weightedPoint `[x,y,z,w]` parts of weighted point.\r\n * @param weightedDerivative `[x,y,z,w]` derivatives\r\n * @param result\r\n /\r\n public static createWeightedDerivative(\r\n weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d\r\n ): Ray3d \| undefined {\r\n const w = weightedPoint[3];\r\n const dw = weightedDerivative[3];\r\n const x = weightedPoint[0];\r\n const y = weightedPoint[1];\r\n const z = weightedPoint[2];\r\n const dx = weightedDerivative[0] w - weightedPoint[0] * dw;\r\n const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\r\n const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\r\n if (Geometry.isSmallMetricDistance(w))\r\n return undefined;\r\n const divW = 1.0 / w;\r\n const divWW = divW * divW;\r\n return Ray3d.createXYZUVW(\r\n x * divW, y * divW, z * divW,\r\n dx * divWW, dy * divWW, dz * divWW,\r\n result\r\n );\r\n }\r\n /** Create from coordinates of the origin and direction. /\r\n public static createXYZUVW(\r\n originX: number, originY: number, originZ: number,\r\n directionX: number, directionY: number, directionZ: number,\r\n result?: Ray3d\r\n ): Ray3d {\r\n if (result) {\r\n result.getOriginRef().set(originX, originY, originZ);\r\n result.getDirectionRef().set(directionX, directionY, directionZ);\r\n return result;\r\n }\r\n return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\r\n }\r\n /* Capture origin and direction in a new Ray3d. /\r\n public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\r\n return new Ray3d(origin, direction);\r\n }\r\n /* Create from (clones of) origin, direction, and numeric weight. /\r\n public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setFrom(direction);\r\n result.a = a;\r\n return result;\r\n }\r\n result = new Ray3d(origin.clone(), direction.clone());\r\n result.a = a;\r\n return result;\r\n }\r\n /* Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. /\r\n public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setStartEnd(origin, target);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\r\n }\r\n /* Return a reference to the ray's origin. /\r\n public getOriginRef(): Point3d {\r\n return this.origin;\r\n }\r\n /* Return a reference to the ray's direction vector. /\r\n public getDirectionRef(): Vector3d {\r\n return this.direction;\r\n }\r\n /* Copy coordinates from origin and direction. /\r\n public set(origin: Point3d, direction: Vector3d): void {\r\n this.origin.setFrom(origin);\r\n this.direction.setFrom(direction);\r\n }\r\n /* Clone the ray. /\r\n public clone(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(this.origin.clone(), this.direction.clone());\r\n return result;\r\n }\r\n return new Ray3d(this.origin.clone(), this.direction.clone());\r\n }\r\n /* Return a clone of the transformed instance /\r\n public cloneTransformed(transform: Transform, result?: Ray3d): Ray3d {\r\n return Ray3d.create(\r\n transform.multiplyPoint3d(this.origin, result?.origin),\r\n transform.multiplyVector(this.direction, result?.direction),\r\n result\r\n );\r\n }\r\n /* Create a clone and return the inverse transform of the clone. /\r\n public cloneInverseTransformed(transform: Transform, result?: Ray3d): Ray3d \| undefined {\r\n if (!transform.computeCachedInverse(true))\r\n return undefined;\r\n return Ray3d.create(\r\n transform.multiplyInversePoint3d(this.origin, result?.origin)!,\r\n transform.matrix.multiplyInverseXYZAsVector3d(\r\n this.direction.x, this.direction.y, this.direction.z, result?.direction\r\n )!,\r\n result\r\n );\r\n }\r\n /* Apply a transform in place. /\r\n public transformInPlace(transform: Transform) {\r\n transform.multiplyPoint3d(this.origin, this.origin);\r\n transform.multiplyVector(this.direction, this.direction);\r\n }\r\n /* Copy data from another ray. /\r\n public setFrom(source: Ray3d): void {\r\n this.set(source.origin, source.direction);\r\n }\r\n /\r\n Return a point at fractional position along the ray.\r\n * * fraction 0 is the ray origin.\r\n * * fraction 1 is at the end of the direction vector when placed at the origin.\r\n /\r\n public fractionToPoint(fraction: number, result?: Point3d): Point3d {\r\n return this.origin.plusScaled(this.direction, fraction, result);\r\n }\r\n /\r\n Return a transform for rigid axes at ray origin with z in ray direction.\r\n * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])\r\n /\r\n public toRigidZFrame(): Transform \| undefined {\r\n const axes = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY);\r\n return Transform.createOriginAndMatrix(this.origin, axes);\r\n }\r\n /* Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. /\r\n public setFromJSON(json?: any) {\r\n if (!json) {\r\n this.origin.set(0, 0, 0);\r\n this.direction.set(0, 0, 1);\r\n return;\r\n }\r\n this.origin.setFromJSON(json.origin);\r\n this.direction.setFromJSON(json.direction);\r\n }\r\n /\r\n Construct a JSON object from this Ray3d.\r\n * @return {} [origin,normal]\r\n /\r\n public toJSON(): any {\r\n return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };\r\n }\r\n /** Create a new ray from json object. See `setFromJSON` for json structure; /\r\n public static fromJSON(json?: any) {\r\n const result = Ray3d.createXAxis();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /\r\n Try to scale the direction vector to a given `magnitude`.\r\n * * Returns `false` if the ray direction is a zero vector.\r\n /\r\n public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\r\n if (this.direction.tryNormalizeInPlace()) {\r\n this.direction.scaleInPlace(magnitude);\r\n return true;\r\n }\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /\r\n Normalize the ray direction in place.\r\n * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\r\n * * Save the parameter `a` as the optional `a` member of the ray.\r\n * * Normalize the ray's direction vector.\r\n * * If parameter `a` is nearly zero,\r\n * * Set the `a` member to zero.\r\n * * Set the ray's direction vector to zero.\r\n * @param a value to be saved (e.g,. area).\r\n * @returns `true` if `a` is nonzero and normalization was successful. Otherwise, return `false`.\r\n /\r\n public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\r\n const tolerance = Geometry.smallMetricDistanceSquared;\r\n this.a = a;\r\n if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\r\n return true;\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /* Return distance from the ray to point in space. /\r\n public distance(spacePoint: Point3d): number {\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.dotProductToPoint(spacePoint);\r\n const aa = Geometry.inverseMetricDistanceSquared(uu);\r\n if (aa)\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv uv * aa);\r\n else\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint));\r\n }\r\n /*\r\n Return the intersection parameter of the line defined by the ray with a `plane`.\r\n * * Stores the point of intersection in the `result` point (if passed as a parameter) and returns the parameter\r\n * along the ray where the intersection occurs. If we call the parameter 'f' then the point of intersection would\r\n * be `ray.origin + f * ray.direction`. Therefore:\r\n * * if ray intersects the plane at its origin, the function returns f = 0.\r\n * * if intersects at `ray.origin + ray.direction`, the function returns f = 1.\r\n * * if intersects behind the ray origin, the function returns f < 0.\r\n * * if intersects after `ray.origin + ray.direction`, the function returns f > 1.\r\n * * Returns `undefined` if the ray and plane are parallel or coplanar.\r\n /\r\n public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number \| undefined {\r\n const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\r\n const uDotN = this.direction.dotProduct(plane.getNormalRef());\r\n const nDotN = this.direction.magnitudeSquared();\r\n const aDotN = vectorA.dotProduct(plane.getNormalRef());\r\n const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\r\n if (undefined === division)\r\n return undefined;\r\n const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\r\n if (undefined === division1)\r\n return undefined;\r\n if (result) {\r\n this.origin.plusScaled(this.direction, division, result);\r\n }\r\n return division;\r\n }\r\n /\r\n Find the intersection of the line defined by the ray with a Range3d.\r\n * * Return the range of parameters (on the ray) which are \"inside\" the range.\r\n * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.isNull`.\r\n /\r\n public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\r\n if (range.isNull)\r\n return Range1d.createNull(result);\r\n const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\r\n if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\r\n && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\r\n && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z)\r\n )\r\n return interval;\r\n return interval;\r\n }\r\n /\r\n Compute the intersection of the ray with a triangle.\r\n * @param vertex0 first vertex of the triangle\r\n * @param vertex1 second vertex of the triangle\r\n * @param vertex2 third vertex of the triangle\r\n * @param distanceTol optional tolerance used to check if ray is parallel to the triangle or if we have line\r\n * intersection but not ray intersection (if tolerance is not provided, Geometry.smallMetricDistance is used)\r\n * @param parameterTol optional tolerance used to snap barycentric coordinates of the intersection point to\r\n * a triangle edge or vertex (if tolerance is not provided, Geometry.smallFloatingPoint is used)\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns the intersection point if ray intersects the triangle. Otherwise, return undefined.\r\n /\r\n public intersectionWithTriangle(\r\n vertex0: Point3d, vertex1: Point3d, vertex2: Point3d, distanceTol?: number, parameterTol?: number, result?: Point3d\r\n ): Point3d \| undefined {\r\n /\r\n Suppose ray is shown by \"rayOrigin + trayVector\" and barycentric coordinate of point\r\n P = wv0 + uv1 + vv2 = (1-u-v)v0 + uv1 + vv2 = v0 + u(v1-v0) + v(v2-v0)\r\n \r\n Then if ray intersects triangle at a point we have\r\n * v0 + u(v1-v0) + v(v2-v0) = rayOrigin + trayVector\r\n or\r\n * -trayVector + u(v1-v0) + v(v2-v0) = rayOrigin - v0\r\n \r\n * This equation can be reformulated as the following linear system:\r\n \r\n [ \| \| \| ] [t] [ \| ]\r\n * [-rayVector v1-v0 v2-v0] [u] = [rayOrigin - v0]\r\n * [ \| \| \| ] [v] [ \| ]\r\n \r\n Then to find t, u, and v use Cramer's Rule and also the fact that if matrix A = [c1,c2,c3], then\r\n * det(A) = c1.(c2 x c3) which leads to\r\n \r\n t = [(rayOrigin - v0).((v1-v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n * u = [-rayVector.((rayOrigin - v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n * v = [-rayVector.((v1-v0) x (rayOrigin - v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n \r\n Now note that swapping any 2 vectors c_i and c_j in formula c1.(c2 x c3) negates it. For example:\r\n * c1.(c2 x c3) = -c3.(c2 x c1) = c2.(c3 x c1)\r\n \r\n This leads to the final formulas used in the following code:\r\n * t = [(v2-v0).((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n * u = [(rayOrigin - v0).(rayVector x (v2-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n * v = [-rayVector.((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n \r\n Note that we should verify 0 <= u,v,w <= 1. To do so we only need to check 0 <= u <= 1, 0 <= v, and u+v <= 1.\r\n * That's because w = 1-(u+v) and if we have those 4 checks, it's guaranteed that v <= 1 and 0 <= u+v and so\r\n * 0 <= w <= 1.\r\n \r\n More info be found at\r\n * https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm\r\n /\r\n if (distanceTol === undefined \|\| distanceTol < 0) // we explicitly allow zero tolerance\r\n distanceTol = Geometry.smallMetricDistance;\r\n if (parameterTol === undefined \|\| parameterTol < 0) // we explicitly allow zero tolerance\r\n parameterTol = Geometry.smallFloatingPoint;\r\n const edge1 = Ray3d._workVector0 = Vector3d.createStartEnd(vertex0, vertex1, Ray3d._workVector0);\r\n const edge2 = Ray3d._workVector1 = Vector3d.createStartEnd(vertex0, vertex2, Ray3d._workVector1);\r\n const h = Ray3d._workVector2 = this.direction.crossProduct(edge2, Ray3d._workVector2);\r\n const a = edge1.dotProduct(h);\r\n if (a >= -distanceTol && a <= distanceTol)\r\n return undefined; // ray is parallel to the triangle (includes coplanar case)\r\n const f = 1.0 / a;\r\n const s = Ray3d._workVector3 = Vector3d.createStartEnd(vertex0, this.origin, Ray3d._workVector3);\r\n let u = f s.dotProduct(h);\r\n if (u < 0.0) {\r\n if (u > -parameterTol)\r\n u = 0.0;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n } else if (u > 1.0) {\r\n if (u < 1.0 + parameterTol)\r\n u = 1.0;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n }\r\n const q = Ray3d._workVector4 = s.crossProduct(edge1, Ray3d._workVector4);\r\n let v = f * this.direction.dotProduct(q);\r\n if (v < 0.0) {\r\n if (v > -parameterTol)\r\n v = 0.0;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n } else if (u + v > 1.0) {\r\n if (u + v < 1.0 + parameterTol)\r\n v = 1.0 - u;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n }\r\n // at this stage, we know the line (parameterized as the ray) intersects the triangle\r\n const t = f * edge2.dotProduct(q);\r\n if (t <= distanceTol) // line intersection but not ray intersection\r\n return undefined;\r\n return this.origin.plusScaled(this.direction, t, result); // ray intersection\r\n }\r\n /*\r\n Return the shortest vector `v` to `targetPoint` from the line defined by this ray.\r\n * * If the projection of `targetPoint` onto the line defined by this ray is q, then `v = targetPoint - q`.\r\n /\r\n public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\r\n const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\r\n const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\r\n return vectorV.plusScaled(this.direction, -fraction, result);\r\n }\r\n /\r\n Determine if two rays intersect, or are fully overlapped, or parallel but not coincident, or skew.\r\n * * Return a CurveLocationDetailPair which contains fraction and point on each ray and has\r\n * annotation (in member `approachType`) indicating one of these relationships:\r\n * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated\r\n * in detailA and detailB\r\n * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.\r\n * The rays are skew in space.\r\n * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The\r\n * fractions and points are a representative single common point.\r\n * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are\r\n * at the minimum distance\r\n /\r\n public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\r\n const intersectionFractions = Vector2d.create();\r\n let fractionA, fractionB;\r\n let pointA, pointB;\r\n let pairType;\r\n if (SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\r\n rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\r\n rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z,\r\n intersectionFractions)\r\n ) {\r\n fractionA = intersectionFractions.x;\r\n fractionB = intersectionFractions.y;\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ?\r\n CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\r\n } else {\r\n fractionB = 0.0;\r\n fractionA = rayA.pointToFraction(rayB.origin);\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ?\r\n CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\r\n }\r\n const pair = CurveLocationDetailPair.createCapture(\r\n CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\r\n CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\r\n pair.approachType = pairType;\r\n return pair;\r\n }\r\n /\r\n Return a ray with `ray.origin` interpolated between `pt1` and `pt2` at the given `fraction`\r\n * and `ray.direction` set to the vector from `pt1` to `pt2` multiplied by the given `tangentScale`.\r\n * @param pt1 start point of the interpolation.\r\n * @param fraction fractional position between points.\r\n * @param pt2 end point of the interpolation.\r\n * @param tangentScale scale factor to apply to the startToEnd vector.\r\n * @param result optional receiver.\r\n /\r\n public static interpolatePointAndTangent(\r\n pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d\r\n ): Ray3d {\r\n result = result ?? Ray3d.createZero();\r\n const dx = pt2.x - pt1.x;\r\n const dy = pt2.y - pt1.y;\r\n const dz = pt2.z - pt1.z;\r\n result.direction.set(tangentScale dx, tangentScale * dy, tangentScale * dz);\r\n if (fraction <= 0.5)\r\n result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\r\n else {\r\n const t: number = fraction - 1.0;\r\n result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\r\n }\r\n return result;\r\n }\r\n}\r\n"]}
1	+ 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Copyright (c) Bentley Systems, Incorporated. All rights reserved.\r\n* See LICENSE.md in the project root for license terms and full copyright notice.\r\n--------------------------------------------------------------------------------------------/\r\n\r\n/** @packageDocumentation\r\n * @module CartesianGeometry\r\n /\r\nimport { CurveCurveApproachType, CurveLocationDetail, CurveLocationDetailPair } from \"../curve/CurveLocationDetail\";\r\nimport { AxisOrder, BeJSONFunctions, Geometry } from \"../Geometry\";\r\nimport { SmallSystem } from \"../numerics/Polynomials\";\r\nimport { Matrix3d } from \"./Matrix3d\";\r\nimport { Plane3dByOriginAndUnitNormal } from \"./Plane3dByOriginAndUnitNormal\";\r\nimport { Vector2d } from \"./Point2dVector2d\";\r\nimport { Point3d, Vector3d } from \"./Point3dVector3d\";\r\nimport { Range1d, Range3d } from \"./Range\";\r\nimport { Transform } from \"./Transform\";\r\nimport { XYAndZ } from \"./XYZProps\";\r\n\r\n// cspell:word Cramer\r\n/\r\n A Ray3d contains\r\n * * an `origin` point.\r\n * * a `direction` vector (The vector is not required to be normalized).\r\n * * an optional weight (number).\r\n * @public\r\n /\r\nexport class Ray3d implements BeJSONFunctions {\r\n /* The ray origin /\r\n public origin: Point3d;\r\n /* The ray direction. This is commonly (but not always) a unit vector. /\r\n public direction: Vector3d;\r\n /* Numeric annotation. /\r\n public a?: number; // optional (e.g. weight)\r\n private static _workVector0?: Vector3d;\r\n private static _workVector1?: Vector3d;\r\n private static _workVector2?: Vector3d;\r\n private static _workVector3?: Vector3d;\r\n private static _workVector4?: Vector3d;\r\n // constructor (captures references)\r\n private constructor(origin: Point3d, direction: Vector3d) {\r\n this.origin = origin;\r\n this.direction = direction;\r\n this.a = undefined;\r\n }\r\n private static _create(x: number, y: number, z: number, u: number, v: number, w: number) {\r\n return new Ray3d(Point3d.create(x, y, z), Vector3d.create(u, v, w));\r\n }\r\n /* Create a ray on the x axis. /\r\n public static createXAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 1, 0, 0);\r\n }\r\n /* Create a ray on the y axis. /\r\n public static createYAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 0, 1, 0);\r\n }\r\n /* Create a ray on the z axis. /\r\n public static createZAxis(): Ray3d {\r\n return Ray3d._create(0, 0, 0, 0, 0, 1);\r\n }\r\n /* Create a ray with all zeros. /\r\n public static createZero(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setZero();\r\n result.direction.setZero();\r\n return result;\r\n }\r\n return new Ray3d(Point3d.createZero(), Vector3d.createZero());\r\n }\r\n /\r\n Test for nearly equal Ray3d objects.\r\n * * This tests for near equality of origin and direction -- i.e. member-by-member comparison.\r\n * * Use [[isAlmostEqualPointSet]] to allow origins to be anywhere along the common ray and to have to allow the\r\n * directions to be scaled or opposing.\r\n /\r\n public isAlmostEqual(other: Ray3d): boolean {\r\n return this.origin.isAlmostEqual(other.origin) && this.direction.isAlmostEqual(other.direction);\r\n }\r\n /\r\n Return the dot product of the ray's direction vector with a vector from the ray origin\r\n * to the `spacePoint`.\r\n * * If the instance is the unit normal of a plane, then this method returns the (signed) altitude\r\n * of `spacePoint` with respect to the plane.\r\n * * Visualization can be found at https://www.itwinjs.org/sandbox/SaeedTorabi/ProjectVectorOnPlane\r\n /\r\n public dotProductToPoint(spacePoint: Point3d): number {\r\n return this.direction.dotProductStartEnd(this.origin, spacePoint);\r\n }\r\n /* Return the fractional coordinate (along the direction vector) of the `spacePoint` projected to the ray. /\r\n public pointToFraction(spacePoint: Point3d): number {\r\n return Geometry.safeDivideFraction(\r\n this.dotProductToPoint(spacePoint),\r\n this.direction.magnitudeSquared(),\r\n 0\r\n );\r\n }\r\n /* Return the `spacePoint` projected onto the ray. /\r\n public projectPointToRay(spacePoint: Point3d): Point3d {\r\n /\r\n To project a point to the ray, we can create a vector called \"v\" from ray origin to the spacePoint and project\r\n * that vector to the ray direction vector \"r\". The projection is \"((v.r)/\|\|r\|\|^2) r\" where \"v.r\" is the dot\r\n * product. Note that pointToFraction returns \"(v.r)/\|\|r\|\|^2\".\r\n * Note: If r is the normal of a plane, then projection length \"(v.r)/\|\|r\|\|\" is the signed altitude of the\r\n * spacePoint with respect to the plane.\r\n /\r\n return this.origin.plusScaled(this.direction, this.pointToFraction(spacePoint));\r\n }\r\n /\r\n Test for nearly equal rays, allowing origin float and direction scaling.\r\n * * Use [[isAlmostEqual]] to require member-by-member comparison.\r\n /\r\n public isAlmostEqualPointSet(other: Ray3d): boolean {\r\n /\r\n This function tests two rays to determine if they define the same infinite lines.\r\n * So the origins can be different as long as they are on the infinite line (they can\r\n * \"float\") but the directions must be parallel or antiparallel.\r\n /\r\n if (!this.direction.isParallelTo(other.direction, true))\r\n return false;\r\n /\r\n In exact math, we consider a ray to have an infinite line as direction (not a finite vector).\r\n * Therefore, in exact math it is not possible for one origin to be on the other ray but not vice\r\n * versa. However, we test both ways because first check may pass due to round-off errors.\r\n /\r\n let workPoint = this.projectPointToRay(other.origin);\r\n if (!other.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n workPoint = other.projectPointToRay(this.origin);\r\n if (!this.origin.isAlmostEqualMetric(workPoint))\r\n return false;\r\n return true;\r\n }\r\n /* Create a ray from origin and direction. /\r\n public static create(origin: Point3d, direction: Vector3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(origin, direction);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), direction.clone());\r\n }\r\n /\r\n Given a homogeneous point and its derivative components, construct a Ray3d with cartesian\r\n * coordinates and derivatives.\r\n * @param weightedPoint `[x,y,z,w]` parts of weighted point.\r\n * @param weightedDerivative `[x,y,z,w]` derivatives\r\n * @param result\r\n /\r\n public static createWeightedDerivative(\r\n weightedPoint: Float64Array, weightedDerivative: Float64Array, result?: Ray3d\r\n ): Ray3d \| undefined {\r\n const w = weightedPoint[3];\r\n const dw = weightedDerivative[3];\r\n const x = weightedPoint[0];\r\n const y = weightedPoint[1];\r\n const z = weightedPoint[2];\r\n const dx = weightedDerivative[0] w - weightedPoint[0] * dw;\r\n const dy = weightedDerivative[1] * w - weightedPoint[1] * dw;\r\n const dz = weightedDerivative[2] * w - weightedPoint[2] * dw;\r\n if (Geometry.isSmallMetricDistance(w))\r\n return undefined;\r\n const divW = 1.0 / w;\r\n const divWW = divW * divW;\r\n return Ray3d.createXYZUVW(\r\n x * divW, y * divW, z * divW,\r\n dx * divWW, dy * divWW, dz * divWW,\r\n result\r\n );\r\n }\r\n /** Create from coordinates of the origin and direction. /\r\n public static createXYZUVW(\r\n originX: number, originY: number, originZ: number,\r\n directionX: number, directionY: number, directionZ: number,\r\n result?: Ray3d\r\n ): Ray3d {\r\n if (result) {\r\n result.getOriginRef().set(originX, originY, originZ);\r\n result.getDirectionRef().set(directionX, directionY, directionZ);\r\n return result;\r\n }\r\n return new Ray3d(Point3d.create(originX, originY, originZ), Vector3d.create(directionX, directionY, directionZ));\r\n }\r\n /* Capture origin and direction in a new Ray3d. /\r\n public static createCapture(origin: Point3d, direction: Vector3d): Ray3d {\r\n return new Ray3d(origin, direction);\r\n }\r\n /* Create from (clones of) origin, direction, and numeric weight. /\r\n public static createPointVectorNumber(origin: Point3d, direction: Vector3d, a: number, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setFrom(direction);\r\n result.a = a;\r\n return result;\r\n }\r\n result = new Ray3d(origin.clone(), direction.clone());\r\n result.a = a;\r\n return result;\r\n }\r\n /* Create from origin and target. The direction vector is the full length (non-unit) vector from origin to target. /\r\n public static createStartEnd(origin: Point3d, target: Point3d, result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.origin.setFrom(origin);\r\n result.direction.setStartEnd(origin, target);\r\n return result;\r\n }\r\n return new Ray3d(origin.clone(), Vector3d.createStartEnd(origin, target));\r\n }\r\n /* Return a reference to the ray's origin. /\r\n public getOriginRef(): Point3d {\r\n return this.origin;\r\n }\r\n /* Return a reference to the ray's direction vector. /\r\n public getDirectionRef(): Vector3d {\r\n return this.direction;\r\n }\r\n /* Copy coordinates from origin and direction. /\r\n public set(origin: Point3d, direction: Vector3d): void {\r\n this.origin.setFrom(origin);\r\n this.direction.setFrom(direction);\r\n }\r\n /* Clone the ray. /\r\n public clone(result?: Ray3d): Ray3d {\r\n if (result) {\r\n result.set(this.origin.clone(), this.direction.clone());\r\n return result;\r\n }\r\n return new Ray3d(this.origin.clone(), this.direction.clone());\r\n }\r\n /* Return a clone of the transformed instance /\r\n public cloneTransformed(transform: Transform, result?: Ray3d): Ray3d {\r\n return Ray3d.create(\r\n transform.multiplyPoint3d(this.origin, result?.origin),\r\n transform.multiplyVector(this.direction, result?.direction),\r\n result\r\n );\r\n }\r\n /* Create a clone and return the inverse transform of the clone. /\r\n public cloneInverseTransformed(transform: Transform, result?: Ray3d): Ray3d \| undefined {\r\n if (!transform.computeCachedInverse(true))\r\n return undefined;\r\n return Ray3d.create(\r\n transform.multiplyInversePoint3d(this.origin, result?.origin)!,\r\n transform.matrix.multiplyInverseXYZAsVector3d(\r\n this.direction.x, this.direction.y, this.direction.z, result?.direction\r\n )!,\r\n result\r\n );\r\n }\r\n /* Apply a transform in place. /\r\n public transformInPlace(transform: Transform) {\r\n transform.multiplyPoint3d(this.origin, this.origin);\r\n transform.multiplyVector(this.direction, this.direction);\r\n }\r\n /* Copy data from another ray. /\r\n public setFrom(source: Ray3d): void {\r\n this.set(source.origin, source.direction);\r\n }\r\n /\r\n Return a point at fractional position along the ray.\r\n * * fraction 0 is the ray origin.\r\n * * fraction 1 is at the end of the direction vector when placed at the origin.\r\n /\r\n public fractionToPoint(fraction: number, result?: Point3d): Point3d {\r\n return this.origin.plusScaled(this.direction, fraction, result);\r\n }\r\n /\r\n Return a transform for rigid axes at ray origin with z in ray direction.\r\n * * If the direction vector is zero, axes default to identity (from [[Matrix3d.createRigidHeadsUp]])\r\n /\r\n public toRigidZFrame(): Transform \| undefined {\r\n const axes = Matrix3d.createRigidHeadsUp(this.direction, AxisOrder.ZXY);\r\n return Transform.createOriginAndMatrix(this.origin, axes);\r\n }\r\n /* Convert {origin:[x,y,z], direction:[u,v,w]} to a Ray3d. /\r\n public setFromJSON(json?: any) {\r\n if (!json) {\r\n this.origin.set(0, 0, 0);\r\n this.direction.set(0, 0, 1);\r\n return;\r\n }\r\n this.origin.setFromJSON(json.origin);\r\n this.direction.setFromJSON(json.direction);\r\n }\r\n /\r\n Construct a JSON object from this Ray3d.\r\n * @return {} [origin,normal]\r\n /\r\n public toJSON(): any {\r\n return { origin: this.origin.toJSON(), direction: this.direction.toJSON() };\r\n }\r\n /** Create a new ray from json object. See `setFromJSON` for json structure; /\r\n public static fromJSON(json?: any) {\r\n const result = Ray3d.createXAxis();\r\n result.setFromJSON(json);\r\n return result;\r\n }\r\n /\r\n Try to scale the direction vector to a given `magnitude`.\r\n * * Returns `false` if the ray direction is a zero vector.\r\n /\r\n public trySetDirectionMagnitudeInPlace(magnitude: number = 1.0): boolean {\r\n if (this.direction.tryNormalizeInPlace()) {\r\n this.direction.scaleInPlace(magnitude);\r\n return true;\r\n }\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /\r\n Normalize the ray direction in place.\r\n * * If parameter `a` is clearly nonzero and the direction vector can be normalized,\r\n * * Save the parameter `a` as the optional `a` member of the ray.\r\n * * Normalize the ray's direction vector.\r\n * * If parameter `a` is nearly zero,\r\n * * Set the `a` member to zero.\r\n * * Set the ray's direction vector to zero.\r\n * @param a value to be saved (e.g,. area).\r\n * @returns `true` if `a` is nonzero and normalization was successful. Otherwise, return `false`.\r\n /\r\n public tryNormalizeInPlaceWithAreaWeight(a: number): boolean {\r\n const tolerance = Geometry.smallMetricDistanceSquared;\r\n this.a = a;\r\n if (Math.abs(a) > tolerance && this.direction.tryNormalizeInPlace(tolerance))\r\n return true;\r\n this.direction.setZero();\r\n this.a = 0.0;\r\n return false;\r\n }\r\n /* Return distance from the ray to point in space. /\r\n public distance(spacePoint: Point3d): number {\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.dotProductToPoint(spacePoint);\r\n const aa = Geometry.inverseMetricDistanceSquared(uu);\r\n if (aa)\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint) - uv uv * aa);\r\n else\r\n return Math.sqrt(this.origin.distanceSquared(spacePoint));\r\n }\r\n /*\r\n Return the intersection parameter of the line defined by the ray with a `plane`.\r\n * * Stores the point of intersection in the `result` point (if passed as a parameter) and returns the parameter\r\n * along the ray where the intersection occurs. If we call the parameter 'f' then the point of intersection would\r\n * be `ray.origin + f * ray.direction`. Therefore:\r\n * * if ray intersects the plane at its origin, the function returns f = 0.\r\n * * if intersects at `ray.origin + ray.direction`, the function returns f = 1.\r\n * * if intersects behind the ray origin, the function returns f < 0.\r\n * * if intersects after `ray.origin + ray.direction`, the function returns f > 1.\r\n * * Returns `undefined` if the ray and plane are parallel or coplanar.\r\n /\r\n public intersectionWithPlane(plane: Plane3dByOriginAndUnitNormal, result?: Point3d): number \| undefined {\r\n const vectorA = Vector3d.createStartEnd(plane.getOriginRef(), this.origin);\r\n const uDotN = this.direction.dotProduct(plane.getNormalRef());\r\n const nDotN = this.direction.magnitudeSquared();\r\n const aDotN = vectorA.dotProduct(plane.getNormalRef());\r\n const division = Geometry.conditionalDivideFraction(-aDotN, uDotN);\r\n if (undefined === division)\r\n return undefined;\r\n const division1 = Geometry.conditionalDivideFraction(nDotN, uDotN);\r\n if (undefined === division1)\r\n return undefined;\r\n if (result) {\r\n this.origin.plusScaled(this.direction, division, result);\r\n }\r\n return division;\r\n }\r\n /\r\n Find the intersection of the line defined by the ray with a Range3d.\r\n * * Return the range of parameters (on the ray) which are \"inside\" the range.\r\n * * Note that a range is always returned; if there is no intersection it is indicated by the test `result.isNull`.\r\n /\r\n public intersectionWithRange3d(range: Range3d, result?: Range1d): Range1d {\r\n if (range.isNull)\r\n return Range1d.createNull(result);\r\n const interval = Range1d.createXX(-Geometry.largeCoordinateResult, Geometry.largeCoordinateResult, result);\r\n if (interval.clipLinearMapToInterval(this.origin.x, this.direction.x, range.low.x, range.high.x)\r\n && interval.clipLinearMapToInterval(this.origin.y, this.direction.y, range.low.y, range.high.y)\r\n && interval.clipLinearMapToInterval(this.origin.z, this.direction.z, range.low.z, range.high.z)\r\n )\r\n return interval;\r\n return interval;\r\n }\r\n /\r\n Compute the intersection of the ray with a triangle.\r\n * @param vertex0 first vertex of the triangle\r\n * @param vertex1 second vertex of the triangle\r\n * @param vertex2 third vertex of the triangle\r\n * @param distanceTol optional tolerance used to check if ray is parallel to the triangle or if we have line\r\n * intersection but not ray intersection (if tolerance is not provided, Geometry.smallMetricDistance is used)\r\n * @param parameterTol optional tolerance used to snap barycentric coordinates of the intersection point to\r\n * a triangle edge or vertex (if tolerance is not provided, Geometry.smallFloatingPoint is used)\r\n * @param result optional pre-allocated object to fill and return\r\n * @returns the intersection point if ray intersects the triangle. Otherwise, return undefined.\r\n /\r\n public intersectionWithTriangle(\r\n vertex0: Point3d, vertex1: Point3d, vertex2: Point3d, distanceTol?: number, parameterTol?: number, result?: Point3d\r\n ): Point3d \| undefined {\r\n /\r\n Suppose ray is shown by \"rayOrigin + trayVector\" and barycentric coordinate of point\r\n P = wv0 + uv1 + vv2 = (1-u-v)v0 + uv1 + vv2 = v0 + u(v1-v0) + v(v2-v0)\r\n \r\n Then if ray intersects triangle at a point we have\r\n * v0 + u(v1-v0) + v(v2-v0) = rayOrigin + trayVector\r\n or\r\n * -trayVector + u(v1-v0) + v(v2-v0) = rayOrigin - v0\r\n \r\n * This equation can be reformulated as the following linear system:\r\n \r\n [ \| \| \| ] [t] [ \| ]\r\n * [-rayVector v1-v0 v2-v0] [u] = [rayOrigin - v0]\r\n * [ \| \| \| ] [v] [ \| ]\r\n \r\n Then to find t, u, and v use Cramer's Rule and also the fact that if matrix A = [c1,c2,c3], then\r\n * det(A) = c1.(c2 x c3) which leads to\r\n \r\n t = [(rayOrigin - v0).((v1-v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n * u = [-rayVector.((rayOrigin - v0) x (v2-v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n * v = [-rayVector.((v1-v0) x (rayOrigin - v0))] / [-rayVector.((v1-v0) x (v2-v0))]\r\n \r\n Now note that swapping any 2 vectors c_i and c_j in formula c1.(c2 x c3) negates it. For example:\r\n * c1.(c2 x c3) = -c3.(c2 x c1) = c2.(c3 x c1)\r\n \r\n This leads to the final formulas used in the following code:\r\n * t = [(v2-v0).((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n * u = [(rayOrigin - v0).(rayVector x (v2-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n * v = [-rayVector.((rayOrigin - v0) x (v1-v0))] / [(v1-v0).(rayVector x (v2-v0))]\r\n \r\n Note that we should verify 0 <= u,v,w <= 1. To do so we only need to check 0 <= u <= 1, 0 <= v, and u+v <= 1.\r\n * That's because w = 1-(u+v) and if we have those 4 checks, it's guaranteed that v <= 1 and 0 <= u+v and so\r\n * 0 <= w <= 1.\r\n \r\n More info be found at\r\n * https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm\r\n /\r\n if (distanceTol === undefined \|\| distanceTol < 0) // we explicitly allow zero tolerance\r\n distanceTol = Geometry.smallMetricDistance;\r\n if (parameterTol === undefined \|\| parameterTol < 0) // we explicitly allow zero tolerance\r\n parameterTol = Geometry.smallFloatingPoint;\r\n const edge1 = Ray3d._workVector0 = Vector3d.createStartEnd(vertex0, vertex1, Ray3d._workVector0);\r\n const edge2 = Ray3d._workVector1 = Vector3d.createStartEnd(vertex0, vertex2, Ray3d._workVector1);\r\n const h = Ray3d._workVector2 = this.direction.crossProduct(edge2, Ray3d._workVector2);\r\n const a = edge1.dotProduct(h);\r\n if (a >= -distanceTol && a <= distanceTol)\r\n return undefined; // ray is parallel to the triangle (includes coplanar case)\r\n const f = 1.0 / a;\r\n const s = Ray3d._workVector3 = Vector3d.createStartEnd(vertex0, this.origin, Ray3d._workVector3);\r\n let u = f s.dotProduct(h);\r\n if (u < 0.0) {\r\n if (u > -parameterTol)\r\n u = 0.0;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n } else if (u > 1.0) {\r\n if (u < 1.0 + parameterTol)\r\n u = 1.0;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n }\r\n const q = Ray3d._workVector4 = s.crossProduct(edge1, Ray3d._workVector4);\r\n let v = f * this.direction.dotProduct(q);\r\n if (v < 0.0) {\r\n if (v > -parameterTol)\r\n v = 0.0;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n } else if (u + v > 1.0) {\r\n if (u + v < 1.0 + parameterTol)\r\n v = 1.0 - u;\r\n else\r\n return undefined; // ray does not intersect the triangle\r\n }\r\n // at this stage, we know the line (parameterized as the ray) intersects the triangle\r\n const t = f * edge2.dotProduct(q);\r\n if (t <= distanceTol) // line intersection but not ray intersection\r\n return undefined;\r\n return this.origin.plusScaled(this.direction, t, result); // ray intersection\r\n }\r\n /*\r\n Return the shortest vector `v` to `targetPoint` from the line defined by this ray.\r\n * * If the projection of `targetPoint` onto the line defined by this ray is q, then `v = targetPoint - q`.\r\n /\r\n public perpendicularPartOfVectorToTarget(targetPoint: XYAndZ, result?: Vector3d): Vector3d {\r\n const vectorV = Vector3d.createStartEnd(this.origin, targetPoint);\r\n const uu = this.direction.magnitudeSquared();\r\n const uv = this.direction.dotProductStartEnd(this.origin, targetPoint);\r\n const fraction = Geometry.safeDivideFraction(uv, uu, 0.0);\r\n return vectorV.plusScaled(this.direction, -fraction, result);\r\n }\r\n /\r\n Determine if two rays intersect, or are fully overlapped, or parallel but not coincident, or skew.\r\n * * Return a CurveLocationDetailPair which contains fraction and point on each ray and has\r\n * annotation (in member `approachType`) indicating one of these relationships:\r\n * * CurveCurveApproachType.Intersection -- the rays have a simple intersection, at fractions indicated\r\n * in detailA and detailB\r\n * * CurveCurveApproachType.PerpendicularChord -- there is pair of where the rays have closest approach.\r\n * The rays are skew in space.\r\n * * CurveCurveApproachType.CoincidentGeometry -- the rays are the same unbounded line in space. The\r\n * fractions and points are a representative single common point.\r\n * * CurveCurveApproachType.Parallel -- the rays are parallel (and not coincident). The two points are\r\n * at the minimum distance\r\n /\r\n public static closestApproachRay3dRay3d(rayA: Ray3d, rayB: Ray3d): CurveLocationDetailPair {\r\n const intersectionFractions = Vector2d.create();\r\n let fractionA, fractionB;\r\n let pointA, pointB;\r\n let pairType;\r\n if (SmallSystem.ray3dXYZUVWClosestApproachUnbounded(\r\n rayA.origin.x, rayA.origin.y, rayA.origin.z, rayA.direction.x, rayA.direction.y, rayA.direction.z,\r\n rayB.origin.x, rayB.origin.y, rayB.origin.z, rayB.direction.x, rayB.direction.y, rayB.direction.z,\r\n intersectionFractions)\r\n ) {\r\n fractionA = intersectionFractions.x;\r\n fractionB = intersectionFractions.y;\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ?\r\n CurveCurveApproachType.Intersection : CurveCurveApproachType.PerpendicularChord;\r\n } else {\r\n fractionB = 0.0;\r\n fractionA = rayA.pointToFraction(rayB.origin);\r\n pointA = rayA.fractionToPoint(fractionA);\r\n pointB = rayB.fractionToPoint(fractionB);\r\n pairType = pointA.isAlmostEqualMetric(pointB) ?\r\n CurveCurveApproachType.CoincidentGeometry : CurveCurveApproachType.ParallelGeometry;\r\n }\r\n const pair = CurveLocationDetailPair.createCapture(\r\n CurveLocationDetail.createRayFractionPoint(rayA, fractionA, rayA.fractionToPoint(fractionA)),\r\n CurveLocationDetail.createRayFractionPoint(rayB, fractionB, rayB.fractionToPoint(fractionB)));\r\n pair.approachType = pairType;\r\n return pair;\r\n }\r\n /\r\n Return a ray with `ray.origin` interpolated between `pt1` and `pt2` at the given `fraction`\r\n * and `ray.direction` set to the vector from `pt1` to `pt2` multiplied by the given `tangentScale`.\r\n * @param pt1 start point of the interpolation.\r\n * @param fraction fractional position between points.\r\n * @param pt2 end point of the interpolation.\r\n * @param tangentScale scale factor to apply to the startToEnd vector.\r\n * @param result optional receiver.\r\n /\r\n public static interpolatePointAndTangent(\r\n pt1: XYAndZ, fraction: number, pt2: XYAndZ, tangentScale: number, result?: Ray3d\r\n ): Ray3d {\r\n result = result ?? Ray3d.createZero();\r\n const dx = pt2.x - pt1.x;\r\n const dy = pt2.y - pt1.y;\r\n const dz = pt2.z - pt1.z;\r\n result.direction.set(tangentScale dx, tangentScale * dy, tangentScale * dz);\r\n if (fraction <= 0.5)\r\n result.origin.set(pt1.x + fraction * dx, pt1.y + fraction * dy, pt1.z + fraction * dz);\r\n else {\r\n const t: number = fraction - 1.0;\r\n result.origin.set(pt2.x + t * dx, pt2.y + t * dy, pt2.z + t * dz);\r\n }\r\n return result;\r\n }\r\n}\r\n"]}

package/package.json CHANGED Viewed

@@ -1,6 +1,6 @@
 {
   "name": "@itwin/core-geometry",
-  "version": "4.0.0-dev.93",
+  "version": "4.0.0-dev.95",
   "description": "iTwin.js Core Geometry library",
   "main": "lib/cjs/core-geometry.js",
   "module": "lib/esm/core-geometry.js",
@@ -35,11 +35,11 @@
     "nyc": "^15.1.0",
     "rimraf": "^3.0.2",
     "typescript": "~5.0.2",
-    "@itwin/build-tools": "4.0.0-dev.93"
+    "@itwin/build-tools": "4.0.0-dev.95"
   },
   "dependencies": {
     "flatbuffers": "~1.12.0",
-    "@itwin/core-bentley": "4.0.0-dev.93"
+    "@itwin/core-bentley": "4.0.0-dev.95"
   },
   "nyc": {
     "extends": "./node_modules/@itwin/build-tools/.nycrc",